1   Definition

A Description of the state of the CAV generated by the CAV’s AMS using:

  1. Information available inside the CAV as assessed by the CAV.
  2. Received from an external source, e.g., another CAV or Roadside Unit.

2   Functional Requirements

A CAV State includes a subset of the following information:

  1. Time and Pose of CAV State generation.
  2. Battery state (temperature overload, unable to charge, insufficient capacity).
  3. Brake responsiveness  (measured by ineffective deceleration).
  4. Motor Responsiveness (measured by ineffective acceleration).
  5. Wheel responsiveness (measured by loss of traction, mechanical disfunction).

Using CAV State the Autonomous Motion Subsystem (AMS) can estimate time and distance of operation assuming values for Route, Lights, Air Conditioning, Cabin Temperature and Velocity.

3   Syntax

https://schemas.mpai.community/CAV2/V1.0/data/CAVState.json

4   Semantics

Label Size Description
Header N1 Bytes CAV State Header
– Standard 9 Bytes The characters “CAV-CST-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
CAVStateID N4 Bytes Identifier of CAV State instance.
CAVStateData N5 Bytes Set of CAV State Data
CAVStateSpaceTime N6 Bytes Spatial Attitude and Time of CAV State generation
BatteryState N7 Bytes Measured in milliAmp-hours (mAh) or Watt-hours (Wh)
Brake Responsiveness N8 Bytes Fully developed deceleration computed according to reference
Motor Responsiveness N9 Bytes Acceleration where acceleration = torque/mass x radius. Torque is measured in Nm, mass in kg, and radius in m.
Wheel Responsiveness  N10 Bytes measured in degrees per unit angular momentum (kgm2/s)
DescrMetadata N13 Bytes Descriptive Metadata