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/CAV2/V1.0/data/WheelCommand.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | Wheel Command Header |
| – Standard | 9 Bytes | The characters “CAV-WHC-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 |
| WheelID | N4 Bytes | Identifier of Wheel. |
| WheelCommands | N7 Bytes | Set of Wheel Command. |
| – WheelCommandTimeSpace | N8 Bytes | Wheel Command Time Space. |
| – Intensity | N9 Bytes | Intensity of Wheel Command. |
| DescrMetadata | N11 Bytes | Descriptive Metadata |
5 Data Formats and Attitudes
Wheel Command Qualifier is required.
6 To Respondents
Respondents are requested to propose Wheel Command Qualifier.
