8.6.10 Steering Wheels Response.
1.1.1 Odometer Data
1.1.1.1 Definition
The output Data of an Odometer that measures the distance travelled by a rigid body in a coordinate system.
1.1.1.2 Functional Requirements
Odometer Data is represented by an appropriate subset of Spatial Attitude.
1.1.2 Speedometer Data
1.1.2.1 Definition
The output Data of an Speedometer that measure the velocity travelled by a rigid body in a coordinate system.
1.1.2.2 Functional Requirements
Speedometer Data is represented by an appropriate subset of Spatial Attitude.
1.1.3 Accelerometer Data
1.1.3.1 Definition
The output Data of an Accelerometer that measure the acceleration of a rigid body in a coordinate system.
1.1.3.2 Functional Requirements
Accelerometer Data is represented by an appropriate subset of Spatial Attitude.
1.1.4 Spatial Attitude
1.1.4.1 Definition
The CAV Spatial Attitude is a snapshot of the estimated CAV spatial attitude received from the Motion Actuation Subsystem containing:
- Three spatial coordinates of the Centre Point of the CAV.
- The Orientation of the CAV.
- Derivatives of Position and Orientation up to the second order.
- Estimation Position and Orientation error.
1.1.4.2 Functional Requirements
MPAI has specified the Spatial Attitude Data Type.
The Ego CAV sets z=0 to its Centre Point.
1.1.4.3 Syntax
1.1.4.4 Semantics
1.1.4.5 To Respondents
Respondents are requested to comment on the use of the MPAI-specified Spatial Attitude for CAV purposes or to propose the coding of alternative functional requirements for the said set of data, and to comment on the Spatial Attitude specification or to propose a different definition.
1.1.5 Other Environment Data
1.1.5.1 Definition
The set of Environment Data such as: temperature, air pressure, humidity etc.
1.1.5.2 Functional Requirements
- Temperature is expressed in degrees Celsius.
- Pressure is expressed in millibar.
- Air humidity can be:
- Relative, i.e., the ratio between the actual amount of moisture and the maximum amount possible at the current temperature and expressed in %.
- Absolute, i.e., the actual amount of moisture in the unit volume of air and is expressed in grams per kilogram (g/kg).
- Wind speed is expressed in m/s.
1.1.5.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
1.1.5.4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | |
| · Standard | 9 Bytes | The characters “CAV-OED-V” |
| · Version | N2 Bytes | Major version – 1 or 2 characters |
| · Dot-separator | 1 Byte | The character “.” |
| · Subversion | N3 Byte | Minor version – 1 or 2 characters |
| OtherEnvironmentDataID | N4 Bytes | ID of the Other Environment Data set. |
| OtherEnvironmentData | N5 Bytes | The Other Environment Data set. |
| · CAVIdentifier | N6 Bytes | Preferred seat position. |
| · Time | N7 Bytes | Measure in second. |
| · Temperature | N8 Bytes | Measured in degrees Celsius |
| · Pressure | N9 Bytes | Measured in millibar |
| · Air humidity | N10 Bytes | Measured in g/kg. |
| · Wind speed | N11 Bytes | Measured in m/s |
| DescrMetadata | N12 Bytes | Descriptive Metadata |
1.1.6 MAS-AMS Message
1.1.6.1 Definition
A Message issued by the Motion Actuation Subsystem after receiving an AMS-MAS Message.
1.1.6.2 Functional Requirements
The MAS issues a series of MAS-AMS Messages at intermediate Poses to inform the AMS about the progress of execution of the AMS-MAS Message containing:
- Current Time
- CAV Spatial Attitude
- Road State in case of serious misalignment between the expected and the actual Spatial Attitude at the current Time.
1.1.6.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
https://schemas.mpai.community/OSD/V1.0/data/SpatialAttitude.json
https://schemas.mpai.community/CAV/V2.0/data/RoadState.json
1.1.6.4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | |
| · Standard | 8 Bytes | The characters “CAV-MAM-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 |
| MAMIdentifier | N4 Bytes | Identifier of the MAS-AMS Message. |
| MAMData | N5 Bytes | Set of Data in MAS-AMS Message. |
| · Time | N6 Bytes | Time information. |
| · SpatialAttitude | N7 Bytes | SA when MAS-AMS Message is issued. |
| · RoadState | N8 Bytes | RoadState at Time and SpatialAttitude. |
| DescrMetadata | N9 Bytes | Descriptive Metadata |
1.1.6.5 Data Formats and Attributes
No Formats required.
1.1.6.6 To Respondents
1.1.7 Brake Command
1.1.7.1 Definition
The specific command issued by the Motion Actuation Subsystem to a Brake to execute an AMS-MAS Message.
1.1.7.2 Functional Requirements
A Brake Command is expressed in m/s2 and duration in second.
1.1.7.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
1.1.7.4 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 |
1.1.7.5 Data Formats and Attitudes
Brake Format is required.
1.1.7.6 To Respondents
Respondents are requested to propose Brake Format IDs.
1.1.8 Brakes Response
1.1.8.1 Definition
The response issued by a Brake to the Motion Actuation Subsystem regarding the execution of an AMS-MAS Message.
1.1.8.2 Functional Requirements
The Response of a Brake to the Brake Command.
1.1.8.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json”
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
1.1.8.4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | |
| · Standard | 8 Bytes | The characters “CAV-BRR-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. |
| BrakeResponseDuration | N5 Bytes | Duration the Brake Response refer tos. |
| BrakeFormatID | N6 Bytes | Format ID of BrakeResponse. |
| BrakeResponses | N7 Bytes | Set of BrakeResponses. |
| · Time | 17 Bytes | Duration of BrakeResponse. |
| · SpatialAttitude | N8 Bytes | Initial Spatial Attitude of CAV. |
| · BrakeResponseID | N9 Bytes | Response to MAS Response Analyser. |
| DescrMetadata | N10 Bytes | Descriptive Metadata |
1.1.8.5 Data Formats and Attitudes
Brake Format is required.
1.1.8.6 To Respondents
Respondents are requested to propose Brake Format IDs.
1.1.9 Steering Wheel Command
1.1.9.1 Definition
The specific command issued by the Motion Actuation Subsystem to a Steering Wheel to execute an AMS-MAS Message.
1.1.9.2 Functional Requirements
A Steering Wheel Command is expressed in m/s2 and duration in second.
1.1.9.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
1.1.9.4 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 |
| SteeringWheelID | N4 Bytes | Identifier of SteeringWheel. |
| SteeringWheelCommandDuration | N5 Bytes | Duration of set of SteeringWheelCommands. |
| SteeringWheelFormatID | N6 Bytes | Format ID of SteeringWheelCommand. |
| SteeringWheelCommands | N7 Bytes | Set of SteeringWheelCommand. |
| · Duration | N8 Bytes | Duration of SteeringWheelCommand. |
| · SpatialAttitude | N9 Bytes | Initial Spatial Attitude of CAV. |
| · SteeringWheelCommandID | N10 Bytes | Deceleration in m/s2 passed to SteeringWheel. |
| DescrMetadata | N11 Bytes | Descriptive Metadata |
1.1.9.5 Data Formats and Attitudes
Steering Wheel Format is required.
1.1.9.6 To Respondents
Respondents are requested to propose Steering Wheel Format IDs.
1.1.10 Steering Wheels Response
1.1.10.1 Definition
The response issued by a Steering Wheel to the Motion Actuation Subsystem regarding the execution of an AMS-MAS Message.
1.1.10.2 Functional Requirements
The Response of a Steering Wheel to the Steering Wheel Command.
1.1.10.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
1.1.10.4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | |
| · Standard | 8 Bytes | The characters “CAV-BRR-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 |
| SteeringWheelID | N4 Bytes | Identifier of Steering Wheel. |
| SteeringWheelResponseDuration | N5 Bytes | Duration the Steering Wheel Response refer tos. |
| SteeringWheelFormatID | N6 Bytes | Format ID of Steering WheelResponse. |
| SteeringWheelResponses | N7 Bytes | Set of Steering WheelResponses. |
| · Time | 17 Bytes | Duration of Steering WheelResponse. |
| · SpatialAttitude | N8 Bytes | Initial Spatial Attitude of CAV. |
| · SteeringWheelResponseID | N9 Bytes | Response to MAS Response Analyser. |
| DescrMetadata | N10 Bytes | Descriptive Metadata |
1.1.10.5 Data Formats and Attitudes
Steering Wheel Format is required.
1.1.10.6 To Respondents
Respondents are requested to propose Steering Wheel Format IDs.
1.1.11 Wheel Motor Command
1.1.11.1 Definition
The specific command issued by the Motion Actuation Subsystem to a Wheel Motor to execute an AMS-MAS Message.
1.1.11.2 Functional Requirements
A Wheel Motor Command is expressed in m/s2 and duration in second.
1.1.11.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
1.1.11.4 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 |
| WheelMotorID | N4 Bytes | Identifier of Wheel Motor. |
| WheelMotorCommandDuration | N5 Bytes | Duration of set of Wheel Motor Commands. |
| WheelMotorFormatID | N6 Bytes | Format ID of Wheel Motor Command. |
| WheelMotorCommands | N7 Bytes | Set of Wheel Motor Command. |
| · Duration | N8 Bytes | Duration of Wheel Motor Command. |
| · SpatialAttitude | N9 Bytes | Initial Spatial Attitude of CAV. |
| · WheelMotorCommandID | N10 Bytes | Deceleration in m/s2 passed to Wheel Motor. |
| DescrMetadata | N11 Bytes | Descriptive Metadata |
1.1.11.5 Data Formats and Attitudes
WheelMotor Format is required.
1.1.11.6 To Respondents
Respondents are requested to propose WheelMotor Format IDs.
1.1.12 Wheel Motors Response
1.1.12.1 Definition
The response issued by a Wheel Motor to the Motion Actuation Subsystem regarding the execution of an AMS-MAS Message.
1.1.12.2 Functional Requirements
The Response of a Wheel Motor to the Wheel Motor Command.
1.1.12.3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/Time.json
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
1.1.12.4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | |
| · Standard | 8 Bytes | The characters “CAV-BRR-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 |
| WheelMotorID | N4 Bytes | Identifier of Wheel Motor. |
| WheelMotorResponseDuration | N5 Bytes | Duration the Wheel Motor Response refer tos. |
| WheelMotorFormatID | N6 Bytes | Format ID of Wheel Motor Response. |
| WheelMotorResponses | N7 Bytes | Set of Wheel Motor Responses. |
| · Time | 17 Bytes | Duration of Wheel Motor Response. |
| · SpatialAttitude | N8 Bytes | Initial Spatial Attitude of CAV. |
| · WheelMotorResponseID | N9 Bytes | Response to MAS Response Analyser. |
| DescrMetadata | N10 Bytes | Descriptive Metadata |
1.1.12.5 Data Formats and Attitudes
Wheel Motor Format is required.
1.1.12.6 To Respondents
Respondents are requested to propose Wheel Motor Format IDs.
