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This documentation provides information of the Cyber-Physical Mobility Lab at the Chair of Embedded Software at RWTH Aachen University.

Overall Architecture

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

  • The High Level Controller runs on an Intel NUC PC, which is logically associated with a particular vehicle, but located in a shelf next to the track. The HLC is responsible for decision making and coordination with other HLCs.
  • The Mid Level Controller runs onboard the vehicle on a Raspberry Pi Zero W, which is connected via WiFi. The MLC is responsible for accurately following the reference trajectory given by the HLC.
  • The Low Level Controller runs onboard on an ATmega2560. It is responsible for the vehicle hardware interaction and abstraction.

Two supporting software components run on a separate "Master PC":

All software components are connected through the RTI Connext implementation of the Data Distribution Service.

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