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This documentation provides technical information in detail of the Cyber-Physical Mobility Lab at the Chair of Embedded Software at RWTH Aachen University. For an overview and remote access refer to   In our Lab it is possible to test and evaluate strategies for connected autonomous driving. Therefore we provide remote access which you can find on our website of the CPM -LAB.The Lab. In this documentation we show you how to setup your environement for simulation only as well as for a full scale setup. We provide examples to get into our software quickly . You can also have a deeper look into special topics which we present in References.

As you can see in the picture the Lab consists of the Master PC, the map, which provides the access to the infrastructure. It processes information from the Indoor Positioning System (IPS) , and information from our user interface called the Lab Control Center (LCC). You can upload your progrm in the LCC which will send the commands to the vehicles Data Distribution Service (DDS) of the RTI Connext which works similar to a cloud system by providing all information to all members of the service. All vehicles and NUCs participate in the DDS as well. The NUCs process the commands and execute your program. In each NUC a local DDS provides the information with the middleware. Once all data is evaluated it is shared with the central DDS and sent to the vehicle.

Software architecture

The software for each vehicle is distributed between three major components:

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• The Indoor Positioning System measures the vehicle poses using a camera.
• The Lab Control Center gives the user an overview of the current operational state of the lab.

All software components are connected through the RTI Connext implementation of the Data Distribution Servicecomponants use our CPM library (cpm-lib). The CPM-lib provides functions to communicate with the vehicle and the IPS system. You can find functions for localisation and vehicle states.