Go to CAV-TEC V2.0 Data Types

Definition
Functional Requirements
Syntax
Semantics
Conformance
Performance

1 Definition

A Motor Response is the signal produced by a Motor in a Connected Autonomous Vehicle (CAV) after receiving a Motor Command from the Motion Actuation Subsystem. It indicates actual motor behaviour, including achieved velocity, torque, position, operational state, health indicators, thermal status, and anomalies.

2 Functional Requirements

A Motor Response shall:

  • Identify the Response and Motor – Provide unique identifiers enabling tracking within the Actuation Subsystem.
  • Report Actual Achieved Values – Include measured velocity, torque, position, and acceleration as applicable to motor type.
  • Return Timing Information – Indicate when the measurement was taken.
  • Expose Motor State – Report the motor operational state (active, idle, saturated, derated, faulted).
  • Include Health and Temperature Indicators – Report thermal and electrical stress affecting performance.
  • Expose Anomalies – Report sensor faults, overloads, or deviations from expected behaviour.
  • Support Traceability – Provide MPAI‑PTF Data Exchange Metadata for verification and audit.

3 Syntax

https://schemas.mpai.community/CAV2/V2.0/data/MotorResponse.json

4 Semantics

Table 1 specifies the semantics of the Motor Response Data Type.

Table 1 – Semantics of the Motor Response Data Type

Label Type Req. Description
Header string (CAV-MRP-V2.0) Yes Motor Response Header – Standard CAV-MRP-Vx.y
MInstanceID string Identifier of the M-Instance (Virtual Space) associated with this Motor Response.
UEnvironmentID string Identifier of the U-Environment (Real Space) associated with this Motor Response.
MotorResponseID string Yes Unique identifier of this Motor Response instance.
MotorResponseTime Simple Time Yes Time this Motor Response was produced.
MotorResponseSpaceTime Simple Time Space/Time where/when this Motor Response applies.
MotorID string Yes Identifier of the motor producing this response.
MotorState Motor States Yes Operational state of the motor (e.g., active, idle, derated, fault). One of: Normal, LossOfTraction, Idle, Active, Starting, Stopping, DeratedThermal, DeratedVoltage, DeratedCurrent, Saturated, OvertemperatureFault, OvercurrentFault, UndervoltageFault, SensorFault, CommunicationFault, Calibration, Offline, EmergencyStop.
AchievedVelocity number Velocity actually reached at MotorResponseTime (m/s).
AchievedTorque number Torque actually delivered by the motor (N·m).
AchievedPosition number Shaft or steering position measured at response time (radians or degrees).
AchievedAcceleration number Acceleration measured at response time (m/s²).
MotorTemperature number Temperature of motor windings or housing (°C).
CurrentDraw number Electrical current drawn by the motor at response time (A).
DeratingActive boolean Indicates whether thermal or current derating mode is active.
AnomalyFlags object Set of flags indicating detected anomalies.
AnomalyFlags.SensorFault boolean Indicates a motor sensor fault.
AnomalyFlags.Overload boolean Indicates the motor is in an overload condition.
AnomalyFlags.ThermalWarning boolean Indicates a thermal warning has been triggered.
AnomalyFlags.UnexpectedBehavior boolean Indicates deviation from expected motor behavior.
DataXMData Data Exchange Metadata MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Motor Response in a trusted data exchange context.
DescrMetadata string Human-readable descriptive metadata of the Motor Response (plain text, max 2048 characters).

5 Conformance Testing

Data conform to the Motor Response Data Type when they validate against its schema. If the schema references other schemas, data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.

6 Performance Assessment