The Development of a Cooperative Heavy-Duty Vehicle for the GCDC 2011: Team Scoop

Abstract

Abstract-The first edition of the Grand Cooperative Driving Challenge (GCDC) was held in the Netherlands in May 2011. Nine international teams were competing in urban and highway platooning scenarios with prototype vehicles using cooperative adaptive cruise control. Team Scoop, a collaboration between KTH Royal Institute of Technology in Stockholm and Scania CV AB in Södertälje, participated in the GCDC with a Scania R-series tractor unit. This paper describes the development and design of team Scoop's prototype system for the GCDC. In particular we present considerations regarding system architecture, state estimation and sensor fusion, design and implementation of control algorithms and implementation issues regarding the wireless communication. The purpose of the paper is to give a broad overview of the different components that are needed to develop a cooperative driving system; from architectural design, workflow and functional requirements descriptions to the specific implementation of algorithms for state estimation and control. The approach is more pragmatic than scientific; it collects a number of existing technologies and gives an implementation oriented view of a cooperative vehicle. The main conclusion is that it is possible, with a modest effort, to design and implement a system that can function well in cooperation with other vehicles in realistic traffic scenarios.

Spatial Model Predictive Control for Smooth and Accurate Steering of an Autonomous Truck

“…At the time, this event was spearheading, since the participants had to deal with other moving traffic and obstacles while respecting traffic rules. More recently, cooperative driving has captured interest in the grand cooperative driving challenge (GCDC) 2011 [16] and in GCDC 2016 [17]. In these, autonomous driving is more focused on cooperative driving and vehicle platooning.…”

A reference architecture for cooperative driving

“…The instantiated architecture was developed and tested on a heavy duty commercial truck, within the Scoop project [48]. The Scoop project was formed in order to create a participating entry in the Grand Cooperative Driving Challenge(GCDC) 2011 [3].…”

A Functional Architecture for Autonomous Driving

“…This architecture is undergoing continuous validation since four years at KTH The Royal Institute of Technology in Stockholm, Sweden. It has been applied to three distinct vehicle domains: A commercial heavy-duty truck which was upgraded with self-driving functionality [10], an ongoing autonomous passenger car project [3] wherein an existing vehicle in the OEMs portfolio is being upgraded towards autonomy, and a novel, legacy free, drive-by-wire electric concept vehicle developed at KTH [14]. The reason for such a broad applicability of the architecture is because it only represents the functional view of the system.…”