1       Definition

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

2       Functional Requirements

A Steering Wheel 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
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

5       Data Formats and Attitudes

Steering Wheel Format is required.

6       To Respondents

Respondents are requested to propose Steering Wheel Format IDs.