Co-Simulation

In contrast to existing fixed simulator couplings, the MOSAIC simulation infrastructure allows the easy integration and exchange of simulators. Thus, the high flexibility of MOSAIC enables the coupling of the most appropriate simulators for a realistic presentation of vehicular traffic, emissions, wireless communication (cellular and ad-hoc), user behavior, and mobility applications. All simulator management tasks, such as time and data synchronization, interaction and lifecycle management, are handled completely by the MOSAIC runtime infrastructure (RTI).

Multi-Domain

Simulators usually cover specific domains, such as traffic or communication. With MOSAIC one can combine the most suitable simulator of each domain to build a holististic system simulation. The following simulators are already coupled with MOSAIC: Eclipse SUMO, our PHABMACS simulator (Traffic), OMNeT++, ns-3, MOSAIC Simple Network Simulator (SNS), MOSAIC Cell (Communication), MOSAIC Application (Application and behavior), and more.

Multi-Scale

Depending on the specific requirements of a simulation scenario, the most relevant simulators can be used. Even within a specific domain different simulators model different levels of domain. For example, traffic simulations can handle thousands of vehicles at once, but only on a low-detailed modelling level which might not be sufficient for specific use cases. For this purpose, a vehicle simulator modelling vehicle dynamics on a high-detailed level might be used, such as PHABMACS. With MOSAIC the exchange of these simulators on different modelling levels is uncomplicated, allowing simulations of advanced driver assistence systems (ADAS) of single cars, up to analyzing the traffic efficiency of Smart Mobility applications on a city-wide level.

Modelling and Configuration

The MOSAIC Application simulator is a simple way to test and evaluate Smart Mobility applications with MOSAIC. Applications for different entities, such as vehicles, servers, and road side units, can be integrated easily thanks to a well-established Java-API. Custom applications can be mapped onto all entities using a sophisticated mapping configuration, allowing easy adjustments of penetratration rates and traffic volumes. Following the Seperation-of-Concerns principle, each simulator is configured separately allowing a flexible parametrization of simulation scenarios.

Vehicle Model

The applications to be prototyped can access the simulated vehicles in PHABMACS by controlling their actuators (throttle, brake, steering) and read their sensors. The input on throttle and brake are transformed by the power train (and brake) to move the vehicle model. The powertrain include separate modelling of the engine, the torque converter (and clutch alternatively), the transmission and the wheels. The interaction of the vehicle and other objects of its environment is based on rigid body dynamics.

Environment Model

The environment in PHABMACS allows for creaion of arbitrary scenarios. Conveniently, such scenarios can be automatically generated from OpenDRIVE® and Open Street Map (OSM) map material using the street grid, buildings and natural elements like trees, grass, and water. Additional infrastructural elements like construction sites can be added. The standard visualization theme has a puristic, yet appealing rendering style. Customized themes can be implemented easily.

Part of MOSAIC simulation framework

The integration with MOSAIC Extended enables coupling PHABMACS with other simulation tools of different domains, such as network simulators for V2X/5G communication, specific sensor simulation models, or application modelling tools. For example, simulating V2X communication using the single hop communication models of PHABMACS, is restricted to map simple metrics like delay and packet loss. If a complex communication scenario is needed, e.g. OMNeT++ or ns-3 can be coupled. Combined with traffic simulation tools like SUMO, the PHABMACS simulation can be embedded in large scenarios of communicating vehicles.