Co-Simulation Framework for Hardware-in-the-Loop Testing of Integrated CCAM Services

The Cooperative, Connected and Automated Mobility (CCAM) paradigm is leading towards a digitalized mobility. However, the implications of the integration of new technologies and services in a real mobility environment are still unclear, and a significant enhancement in the testing of such solutions is required. In this context, a crucial step is the development of co-simulation frameworks representing the different hetero-geneous components of the road environment in a realistic and integrated way. To this end, here we propose a co-simulation framework that extends Eclipse MOSAIC, a co-simulation platform for testing and validation of Cooperative-Intelligent Transportation Systems (C-ITS) services, with Hardware-in-the-Loop capabilities. Specifically, we integrate a real-time target hardware as a new add-in component, thus offering an efficient tool for integrated CCAM solutions testing. In addition, the In Vehicle Signage C-ITS service is implemented as a new application as a proof of concept. Finally, we test the correct operations of proposed extended co-simulation framework in a realistic case study involving different traffic conditions. The practical implementation demonstrates the versatility and scalability of the selected simulation framework, thereby paving the way for the development of additional services through a rapid prototyping methodology.