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<title>PHABMACS | Eclipse MOSAIC – A Multi-Domain and Multi-Scale Simulation Framework for Connected and Automated Mobility</title>
<link>https://www.eclipse.org/mosaic/category/phabmacs/</link>
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<description>PHABMACS</description>
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<title>PHABMACS</title>
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<title>Testing Remote-Operated Driving virtually with Eclipse MOSAIC</title>
<link>https://www.eclipse.org/mosaic/post/remote-operated-driving/</link>
<pubDate>Fri, 26 Feb 2021 00:00:00 +0000</pubDate>
<guid>https://www.eclipse.org/mosaic/post/remote-operated-driving/</guid>
<description>&lt;p&gt;&lt;img src=&#34;overview.png&#34; alt=&#34;alternative text for search engines&#34;&gt;&lt;/p&gt;
&lt;p&gt;&lt;strong&gt;Remote-Operated Driving&lt;/strong&gt; is the bridge technology from human towards fully automated driving.
In situations outside the driving domain of a highly-automated vehicle, e.g. if data is missing, or the autonomous function is unsure to
make a certain decision, remote-operation is the key. Also, in other use-cases, remote-operated driving is a helpful
technique, e.g. for driving electric car-sharing vehicles to their charging stations, or maneuvering vehicles remotely through
a parking garage.&lt;/p&gt;
&lt;p&gt;In all those use-cases, a human operator would &amp;ldquo;steer&amp;rdquo; the vehicle remotely. All sensor information would be sent over the 5G network
to the operator who can then decide on the action or trajectory the vehicle should follow. The information the operator
receives could be any sensor data from the vehicle, such as camera data, LiDAR data,
or already compiled information like detected objects and free space.
With Mobile Edge Computing and sensor fusion, the information could be enriched by other vehicles or stationary sensors.&lt;/p&gt;
&lt;p&gt;Virtual Testing with MOSAIC helps to dive deeper into this topic. This study bases on LiDAR data for presentation of the operator view,
which allows selecting different viewing angles as well as sensor fusion of different perspectives from other vehicles for a
holistic environment model. The final result can be seen in the video below.&lt;/p&gt;
&lt;div style=&#34;position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden;&#34;&gt;
&lt;iframe src=&#34;https://www.youtube.com/embed/KC5ZTy1CDz8&#34; style=&#34;position: absolute; top: 0; left: 0; width: 100%; height: 100%; border:0;&#34; allowfullscreen title=&#34;YouTube Video&#34;&gt;&lt;/iframe&gt;
&lt;/div&gt;
&lt;br/&gt;
&lt;p&gt;Eclipse MOSAIC has been used to couple the vehicle simulator PHABMACS with the MOSAIC Application
simulator, in which a custom application has been deployed providing the operator view.
The vehicle simulator PHABMACS is responsible for vehicle dynamics and sensor data, in this case LiDAR data.
The message exchange of LiDAR as well as vehicle control data has been simulated by integrating the MOSAIC Cell simulator.
In this way, we could analyze the influence of communication properties, e.g. latencies and
different connection qualities such as low capacities or packet losses, on the application.
For the hybrid test setup with virtual world and real application for the human operators,
the whole simulation has to run in real time, which is possible with Eclipse MOSAIC (see parameter &lt;code&gt;--realtime-brake 1&lt;/code&gt;).&lt;/p&gt;
&lt;p&gt;&lt;img src=&#34;overview_mosaic.png&#34; alt=&#34;Tele-Operated Driving Simulation with Eclipse MOSAIC&#34;&gt;&lt;/p&gt;
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<title>Testing mobility scenarios with the Open-Source simulation environment Eclipse MOSAIC</title>
<link>https://www.eclipse.org/mosaic/post/eclipse-mosaic/</link>
<pubDate>Fri, 16 Oct 2020 00:00:00 +0000</pubDate>
<guid>https://www.eclipse.org/mosaic/post/eclipse-mosaic/</guid>
<description>&lt;p&gt;&lt;strong&gt;On the occasion of EclipseCon 2020, Fraunhofer FOKUS launches its simulation environment Eclipse MOSAIC. This solution is based on VSimRTI (Vehicle-2-X Simulation Runtime Infrastructure), which has been developed over the last 12 years in close cooperation with the DCAITI of the TU Berlin and has already been used by more than 600 partners to test mobility services and traffic scenarios. Eclipse MOSAIC is now partially available as open-source.&lt;/strong&gt;&lt;/p&gt;
&lt;p&gt;Whether dynamic lane assignment or traffic light phase assistant, new mobility services are designed to increase safety, efficiency, comfort, and facilitate environmentally friendly transport. The Eclipse MOSAIC simulation environment allows to explore how this can be achieved, before the services are tested in field trials on the road. Eclipse MOSAIC can also be used for testing driver assistance systems and to optimize the entire traffic.&lt;/p&gt;
&lt;h2 id=&#34;flexible-coupling-of-simulators&#34;&gt;Flexible coupling of simulators&lt;/h2&gt;
&lt;p&gt;Eclipse MOSAIC integrates, depending on the simulation scenario, different aspects like individual building blocks into a holistic system, e.g., traffic congestion, battery charging of electric cars, or communication between other road users and a central cloud. The level of detail for individual aspects is variable: from a rough mobility scenario for an entire city to detailed individual driving maneuvers.&lt;/p&gt;
&lt;p&gt;The open-source version of Eclipse MOSAIC already includes several simulators, e.g., Eclipse SUMO for traffic and OMNeT++ and ns-3 for communication. Further simulators can be coupled, e.g., Fraunhofer FOKUS offers the simulator PHABMACS for the realistic modeling of autonomous vehicles.&lt;/p&gt;
&lt;p&gt;In addition to the simulator coupling, Eclipse MOSAIC manages the following tasks:&lt;/p&gt;
&lt;ul&gt;
&lt;li&gt;Federation: Individual simulators are interchangeable within a scenario.&lt;/li&gt;
&lt;li&gt;Interaction: Information from one simulator is also taken into account by others.&lt;/li&gt;
&lt;li&gt;Time: All simulators run synchronously.&lt;/li&gt;
&lt;/ul&gt;
&lt;p&gt;Additionally, Eclipse MOSAIC offers several tools for evaluation and visualization of the results, which are also included in the open-source package.&lt;/p&gt;
&lt;p&gt;In the recently completed EU project INFRAMIX, Eclipse MOSAIC was used to test scenarios for the future road that allow mixed traffic between conventional and automated vehicles.&lt;/p&gt;
&lt;p&gt;Fraunhofer FOKUS has been a strategic development member of the Eclipse Foundation since May of this year and works in close cooperation with the partners of the working groups OpenMobility and openADx (Open Source for Autonomous Driving).&lt;/p&gt;
&lt;p&gt;Further information about Eclipse MOSAIC:
&lt;a href=&#34;https://www.eclipse.org/mosaic&#34;&gt;https://www.eclipse.org/mosaic&lt;/a&gt;
&lt;a href=&#34;https://github.com/eclipse/mosaic&#34;&gt;https://github.com/eclipse/mosaic&lt;/a&gt;&lt;/p&gt;
&lt;p&gt;Further information about INFRAMIX:
&lt;a href=&#34;https://www.fokus.fraunhofer.de/de/fokus/news/inframix-projekt_2020_08&#34;&gt;https://www.fokus.fraunhofer.de/de/fokus/news/inframix-projekt_2020_08&lt;/a&gt;&lt;/p&gt;
&lt;p&gt;Further information about EclipseCon:
&lt;a href=&#34;https://www.eclipsecon.org/2020&#34;&gt;https://www.eclipsecon.org/2020&lt;/a&gt;&lt;/p&gt;
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