3 Realization

3.3 Integration of Autom. Vessel Guidance in the Simulation Environment

Within this work package, the algorithms of the automated ship guidance will be integrated into the simulation environment. The uniform interfaces between the automation algorithms, the sensors on the test ship and the virtual sensors within the simulation environment are of particular importance. In addition to the same data formats of the sensors within the simulation, it must also be possible to process the native control signals of the automated ship guidance.

For the above mentioned implementation of the same data formats, the simulation environment must be extended by the corresponding interfaces to the ROS2 system. All data – sensor signals as well as control data – are transmitted via these interfaces on the test ship. By already existing libraries for the game engine Unity a connection to the ROS2 system can be established. Thus, the virtually generated data can be directly fed into the control algorithms.

By replicating the real test field, the system can thus be tested virtually without risking a collision with channel walls.

Work packages

The simulation environment as a virtual image of the real world is the central development environment for all control and monitoring algorithms. A digital twin of the test vessel is implemented in the simulation environment.

The development of the automated control of the inland vessel will initially take place in a simulator. In the first work package, the existing simulator will therefore be extended so that sensor readings can be generated virtually. The artificial intelligence (AI) developed in parallel in a modular fashion for ship control and for implementing the driving behavior functions will then be integrated in a simulation model in such a way that a later parallel porting to a real inland waterway vessel will be possible. Furthermore, the behavior of other road users (vessels in the vicinity of the automated barge) will be modeled and integrated into the simulation environment. The development of the AI for the implementation of the driving behavior functions for different tasks is initially carried out in parallel and then tested in the simulator. Fundamental questions about the choice and structure of the module are efficiently addressed in this way.

1.1 Simulator

The virtual home of the digital twin

1.2 AI / Behavior Control

The central algorithms: ship guidance and driving behavior functions

1.3 Behavior of other Road Users

Prerequisite for accident-free traffic: understanding the traffic situation

To test the test vessel, test scenarios are first defined. Subsequently, the automated vessel control is integrated and iteratively adapted. Test runs are absolutely necessary for this.

2.1 Sensors

The senses of AI

2.2 Actuator

Artificial intelligence takes the control

2.3 Human-Machine Interface

Development of the human-machine interface

The realization of the automation of the test vessel requires a fine conception and coordination of the algorithms. Furthermore, the automation functions must be tested in advance in the simulation environment. This is followed by validation on the real system.

3.1 Fine-Tuning and Tuning of the Algorithms

Fine conception and tuning of the algorithms for the automation of the inland vessel.

3.2 Implementation

Technical implementation of the automation functions