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.

This documentation provides a setup guide for a simulation environment as well as for the entire Lab setup. You can use our examples to get into the software. Moreover we provide documentation to important topics in more detail.

The Lab consists of the Master PC, the map, the Indoor Positioning System (IPS), the Lab Control Center (LCC) and the vehicle.

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.