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 our website of the CPM-LAB.
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":
- 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.