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


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.