Detailed design of the unbranded Tactical Layer. D3.1 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 as a support function (in D2.4 referred to as level A). 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 3.1 (D3.1) consists of 1) a reference implementation in software of the tactical layer modules, i.e. the Platoon Coordinator, and 2) a report describing this design in detail (this document). This report, i.e. the current document, is Project Milestone 3 (MS3): Reference design of the tactical layer. The source code of the software of the Platoon Coordinator is made available to the members of the Consortium (including the Commission Services) via the ENSEMBLE SharePoint site. The relation of D3.1 with other T3.1 deliverables is that the V2X reference design is D3.2 and the prototyping of the total reference design, i.e. tactical layer and V2X design, in a rapid control prototyping setup is D3.3. In this document the design of the tactical layer modules is described, starting from the specifications defined in WP 2. The tactical layer modules consist of a manoeuvre coordinator and a platoon status and property sharing module. The manoeuvre coordinator is responsible for handling the sequences of the interaction protocol to conduct the manoeuvres to join, leave or split the platoon. The platoon status and property sharing module ensures the collection and sharing of information that must be available to all vehicles in the platoon. Next to the design, the implementation of the design in software is described. The Simulink programming environment of the MathWorks is used to develop the Platoon Coordinator model. This model is set up such that it can interface with and be integrated in the white label truck model, specified in WP 2. This white label truck model can be implemented in a HIL facility, which includes the reference V2X communication device (as hardware unit), for prototyping the reference design. Note that before the model can be embedded in the HIL facility it has to be compiled on a Rapid Control Prototyping device. In this compiling step, the readability of the software is lost. Therefore, this deliverable focusses on describing the (readable) source code, i.e. the Simulink model, of the Platoon Coordinator. In order to understand and test the Platoon Coordinator model without having to integrate it in a truck environment, a Simulink model for testing is provided. This test model is also described in this document. In conclusion, this document describes the reference design and software implementation of the tactical layer modules, i.e. the Platoon Coordinator. The design has to be considered as the first version, which is the baseline for implementation and further testing. It is likely that new insights obtained during implementation and testing in WP 3 and/or WP5 will lead to future updates of the reference design. Version management will be used to track these changes. Finally, feedback to WP 2 is continuously provided if required changes affect the requirements and specifications.