An Eclipse MOSAIC-Based Hardware-in-Loop V2X Co-Simulation Framework for CCAM Services

The Cooperative, Connected and Automated Mobility (CCAM) paradigm is heavily working towards a more digitalized mobility, increasing road safety while reducing traffic congestion and environmental footprint. However, a detailed analysis of the implications and benefits associated with the integration of CCAM solutions into mobility systems is lacking. Hence, to speed up the market deployment, significant enhancements in the testing of such solutions are required. Among them, a crucial step is the development of co-simulation frameworks representing all the road environment components in a realistic and integrated way. To this aim, we propose a co-simulation framework that extends the well-known Eclipse MOSAIC with Hardware-in-the-Loop capabilities. Specifically, we integrate the Cohda On Board Unit MK5 commercial hardware as a new add-in component, thus offering an efficient tool for CCAM solutions testing. In addition, the traffic jam ahead C-ITS service is implemented as a new application as a proof of concept. A noteworthy case study is finally conducted to evaluate the proposed extended co-simulation framework, considering a practical traffic scenario involving mixed traffic conditions where connected vehicles are equipped with the implemented C-ITS service. The actual implementation showcases the flexibility and extensibility of the chosen simulation framework, devising a suitable path to develop more services with a rapid prototyping approach.