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":

• 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 Service.