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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) Composite 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 Messages into specific Commands to its 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 the Autonomous Motion Subsystem.
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 depicts the Reference Model of the Motion Actuation Subsystem (CAV‑MAS) AIM.

Motion Actuation Subsystem CAV-MAS AIM

Figure 1 – 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) Composite AIM.

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

Input Description
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 Description
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 Functions of SubAIMs

Table 2 gives the functions of the Motion Actuation Subsystem (CAV‑MAS) SubAIMs.

Table 2 – Functions of the Motion Actuation Subsystem (CAV‑MAS) SubAIMs

SubAIM Function
MAS Spatial Attitude Generation Computes Ego CAV’s Spatial Attitude using Spatial Data.
AMS‑MAS 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, Wheels, and Motors and sends the AMS‑MAS Message to AMS.
Ice Condition Analysis Adds ice condition information to input Weather Data.

4.2 Operation

The operation of the Motion Actuation Subsystem unfolds as follows:

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

4.3 I/O Data of SubAIMs

Table 3 gives the Input and Output Data of the Motion Actuation Subsystem (CAV‑MAS) SubAIMs.

Table 3 – I/O Data of the Motion Actuation Subsystem (CAV‑MAS) SubAIMs

SubAIM Input Output
MAS Spatial Attitude Generation Spatial Data Spatial Attitude
AMS‑MAS Message 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
Road State

4.4 AIMs and JSON Metadata

Table 4 provides the links to the AIM specifications and JSON schemas. AIM1 indicates the Composite AIM and AIM2 its SubAIMs.

Table 4 – AIMs and JSON Metadata of the Motion Actuation Subsystem (CAV‑MAS)

AIM1 AIM2 Name JSON
CAV‑MAS Motion Actuation Subsystem X
CAV‑MSA 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

Not part of this specification.

8      Conformance Testing

Table 5 provides the Conformance Testing Method for the Motion Actuation Subsystem (CAV‑MAS) Composite AIM. Conformance Testing of the individual SubAIMs is given by the individual AIM specifications.

If a schema contains references to other schemas, conformance of data for the primary schema implies that any data referencing a secondary schema shall also validate against the relevant schema, if present, and conform with the Qualifier, if present.

Table 5 – Conformance Testing Method for the Motion Actuation Subsystem (CAV‑MAS) Composite AIM

Receives Spatial Data Shall validate against Spatial Data schema.
Weather Data Shall validate against Weather Data schema.
AMS‑MAS Message Shall validate against AMS‑MAS Message schema.
Motor Response Shall validate against Motor Response schema.
Wheel Response Shall validate against Wheel Response schema.
Brake Response Shall validate against Brake Response schema.
Produces Spatial Attitude Shall validate against Spatial Attitude schema.
Weather Data Shall validate against Weather Data schema.
Motor Command Shall validate against Motor Command schema.
Wheel Command Shall validate against Wheel Command schema.
Brake Command Shall validate against Brake Command schema.
AMS‑MAS Message Shall validate against AMS‑MAS Message schema.

9      Performance Assessment

Not part of this specification.

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