1 Definition
The command issued by the Motion Actuation Subsystem to a Brake to reduce the speed of the CAV.
2 Functional Requirements
A Brake Command is expressed as the velocity a CAV should have after a Time since it application.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/BrakeCommand.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | Brake Command Header |
| – Standard | 9 Bytes | The characters “CAV-BRC-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 |
| BrakeCommandID | N4 Bytes | Format ID of BrakeCommand. |
| BrakeID | N6 Bytes | Identifier of Brake. |
| BrakeCommand | N7 Bytes | Set of BrakeCommands. |
| – TargetVelocity | N8 Bytes | Expected velocity at the end of duration. |
| – BrakeCommandTime | N9 Bytes | Duration of BrakeCommand application. |
| DescrMetadata | N10 Bytes | Descriptive Metadata |
