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Function Ref. Model I/O Data SubAIMs JSON MData Profiles Ref. Software Conformance Performance

1 Functions

The Motion Actuation Subsystem (CAV-MAS) AIM:

  1. Transmits spatial and weather information gathered from its sensors and mechanical subsystems to the Environment Sensing Subsystem (ESS).
  2. Receives AMS-MAS Messages from the Autonomous Motion Subsystem (AMS).
  3. Translates AMS-MAS Message into specific Commands to its own Brake, Motor, and Wheel mechanical subsystems.
  4. Receives Responses from its Brake, Motor, and Wheel mechanical subsystems.
  5. Packages Responses into and sends AMS-MAS Messages to Autonomous Motion Subsystem.

The Motion Actuation Subsystem (CAV-MAS) AIM:

Receives Spatial Data Collection of distance, velocity, acceleration, and inclination data.
Weather Data Data such as humidity, pressure, temperat­ure.
AMS-MAS Message Message including motion information.
Motor Response Information on effects of applied motor force.
Wheel Response Information on effects of applied Wheel rotation force.
Brake Response Information on effects of applied brake force.
Produces Spatial Attitude Position, Orientation and their velocity and acceleration vectors.
Weather Data Data such as humidity, pressure, temperat­ure, ice condition.
Motor Command Applied motor torque.
Wheel Command Applied wheel torque.
Brake Command Applied brake deceleration.
AMS-MAS Message Message including results of MAS Response analysis.

2 Reference Model

Figure 1 represents the Reference Model of the Motion Actuation Subsystem (CAV-MAS) AIM.

 

Figure 1 – Reference Model of the Motion Actuation Subsystem (CAV-MAS) AIM

3 I/O Data

Table 1 specifies the Input and Output Data of the Motion Actuation Subsystem (CAV-MAS) AIM.

Table 1 – I/O Data of the Motion Actuation Subsystem (CAV-MAS) AIM

Input Descriptions
Spatial Data Collection of distance, velocity, acceleration, and inclination data.
Weather Data Data such as humidity, pressure, temperat­ure.
AMS-MAS Message Message including motion information.
Motor Response Information on effects of applied motor force.
Wheel Response Information on effects of applied Wheel rotation force.
Brake Response Information on effects of applied brake force.
Output Descriptions
Spatial Attitude Position, Orientation and their velocity and acceleration vectors.
Weather Data Data such as humidity, pressure, temperat­ure, ice condition.
Motor Command Applied motor torque.
Wheel Command Applied wheel torque.
Brake Command Applied brake deceleration.
AMS-MAS Message Message including results of MAS Response analysis.

4 SubAIMs

4.1 Reference Model

Figure 2 represents the Reference Model of the Motion Actuation Subsystem (CAV-MAS) Composite AIM.

Figure 2 – Reference Model of the Motion Actuation Subsystem (CAV-MAS) Composite AIM

4.2 Operation

The operation of the Motion Actuation Subsystem unfolds as follows:

  1. AMS Command Interpretation
    1. Interprets the AMS-MAS Messages received from AMS and issues commands to the Brake, Motor, and Wheel mechanical subsystems.
  2. MAS Response Analysis
    1. Interprets the responses received from the Brake, Motor, and Wheel mechanical subsystems and sends AMS-MAS Messages to to AMS.
  3. MAS Spatial Attitude Generation
    1. Computes the initial Ego CAV’s Spatial Attitude using Spatial Data (Odometer, Speedometer, Accelerometer, and Inclinometer) Data
    2. Sends the initial Spatial Attitude Attitude to the ESS.
  4. Ice Condition Analysis
    1. Augments Weather Data analysing the responses of the Brake, Motor, and Wheel mechanical subsystems.
    2. Sends augmented Weather Data to ESS.

4.3 Functions of AI Modules

Table 2 gives the AI Modules of Autonomous Motion Subsystem.

Table 2 – Functions of Motion Actuation Subsystem’s AI Modules

AIM Function
MAS Spatial Attitude Generation Computes Ego CAV’s Spatial Attitude using Spatial Data.
AMS Message Interpretation Receives, analyses, and actuates AMS-MAS Message into specific commands to Brakes, Wheels, and Motors.
MAS Response Analysis Receives and analyses responses from Brakes, Wheel, and Motors and sends the MAS-AMS Response to AMS.
Ice Condition Analysis Adds ice condition information to input Weather Data.

4.4 I/O Data of AI Modules

Table 2 gives the input/output data of Motion Actuation Subsystem.

AIM Input Output
MAS Spatial Attitude Generation – Spatial Data – Spatial Attitude
AMS Command Interpretation – AMS-MAS Message – Brake Command
– Motor Command
– Wheel Command
MAS Response Analysis – Brake Response
– Motor Response
– Wheel Response
– Road State		 – AMS-MAS Message
Ice Condition Analysis – Brake Response
– Motor Response
– Wheel Response
– Weather Data		 – Weather Data

Table 1 – I/O data of Motion Actuation Subsystem

4.5 AIMs and JSON Metadata

AIM1 AIM2 AIM Names JSON
CAV-MAS Motion Actuation Subsystem X
CAV-MSG MAS Spatial Attitude Generation X
CAV-AMI AMS-MAS Message Interpretation X
CAV-MRA MAS Response Analysis X
CAV-ICA Ice Condition Analysis X

5 JSON Metadata

https://schemas.mpai.community/CAV2/V1.1/AIMs/MotionActuationSubsystem.json

6 Profiles

No Profiles

7 Reference Software

8 Conformance Testing

9 Performance Assessment

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