Generic open-source RCP-level reference implementation of the Tactical Layer. D3.3 of H2020 project ENSEMBLE

In the context of the ENSEMBLE project, T 3.1 is an umbrella task in WP 3. The objective of WP 3 is the implementation of the requirements and specifications of WP 2 in demonstrator trucks (i.e. comprising hardware and software). This implementation includes the operational and the tactical layer, as well as the interface to the strategic layer. WP 3 focusses on the implementation of platooning level A, which means that platooning will be implemented as a driver support function. The automation consists of longitudinal automation with optional lateral support. The aim of T 3.1 is the development and prototyping of a reference tactical layer and V2X design, which compromise the common multi-brand functionality, according to the specifications of WP 2. Deliverable 3.3 (D3.3) deals with the rapid control prototyping (RCP) level implementation of the unbranded Tactical Layer. The prototype serves as a basis for each OEM to develop its own brand-specific implementation in tasks 3.2–3.7, and also serves as a benchmark against which the brand-specific implementations can be evaluated. The implementation will not be automotive-grade hard- and software, but will be otherwise fully functional in a simulation environment. The Tactical Layer consists of Tactical Layer software modules, i.e. the Platoon Coordinator, and the operational (non-automotive grade) ITS-G5 V2X communication. The detailed design of the Platoon Coordinator and the implementation of it in Simulink (open code) are provided in D3.1 (Schmeitz, 2019). The operational ITS-G5 V2X communication is the subject of D3.2 (de Jongh, 2019). The communication consists of a hardware communication unit and the (embedded) software to exchange messages according to the ENSEMBLE communication protocol, as specified in WP 2. For rapid control prototyping purposes of the Tactical Layer, the ‘full’ white-label truck must be simulated and, in order to check the functioning of the developed ITS-G5 V2X communication, the (hardware) communication unit must be included in this simulation. Consequently, a Hardware-in-the-loop (HIL) simulation setup is created. In the HIL simulation, not only the communication unit hardware is ‘hardware-in-the-loop’, but also the Platoon Coordinator must work as a node in the network (to be run independent of Simulink), meaning that standalone C++ code has to be generated from the Simulink model of the Platoon Coordinator. In this way, the functioning of the Platoon Coordinator as standalone code can be tested in simulation on a dedicated hardware, in a network and with real input/output devices. In order to simulate the ‘full’ white-label truck, next to the Tactical Layer also the Operational Layer must be simulated. This means that all Operational Modules (e.g. Longitudinal Control, HMI, communication, sensors) and the hardware components such as actuators (e.g. engine, brakes), sensors (e.g. radar, camera) and HMI (e.g. buttons) must be simulated. Consequently, models of these components have been developed and included in the HIL environment. Further, in order to simulate platooning use cases, two or more white-label trucks are required that can drive in a virtual environment containing e.g. a road or other road users. To establish the HIL simulation platform for ENSEMBLE, it was decided to use the Robot Operating System (ROS) ecosystem, as prior experience was available using ROS. ROS is a middleware for use in complex robot control software systems and it is widely used in prototyping of automated driving systems. Next to ROS’s core functionality a variety of development tools is available in the ROS ecosystem, e.g. for simulation of systems, visualisation and data recording. D3.3 is a demonstrator type of deliverable, meaning that it consists of the demonstration that the Tactical Layer is implemented and functioning in the HIL simulation. In this context, this deliverable report is aimed to be brief description of the setup and its usage. Finally, the HIL simulation platform is a tool for developing and testing of the Tactical Layer in ENSEMBLE. In the future, the tool will be further used in the project for testing and improvement of the Tactical Layer, as it is likely that new insights obtained during implementation and testing in WP 3 and/or WP 5 will lead to future updates of the Tactical Layer, which would require updates of the HIL as well, e.g. interfacing, simulation of specific scenarios, etc.