What is the drive signal? +0 to 12, -0 to12? With or without braking? What is the required drive signal for the SSR? I'm imagining (no braking case) turning on 2 SSR's when > some value and vice versa.
In the more complicated case, the drive is PWM.
For protection, it's customary to sense the current using, say, an Allegro hall effect current sensor that could enable/disable the proper drive SSR.
It would be simpler if the drive and not enable signals are available or the two bits that represent fwd, rev, brake and coast.
Some amount of delay is probably built into software.