Cyclops: Open Platform for Scale Truck Platooning
Hyeongyu Lee, Jaegeun Park, Changjin Koo, Jong-Chan Kim, and Yongsoon, Eun

TL;DR
Cyclops is an open-scale platform with semi-trailer trucks and advanced perception systems designed for testing and validating self-driving heavy-duty vehicle platooning in a controlled environment.
Contribution
It provides a scalable, open platform with detailed hardware and software designs for research in truck platooning and safety mitigation strategies.
Findings
Effective perception system for truck platooning
Validation of safety-critical mitigation strategies
Open source hardware and software for replication
Abstract
Cyclops, introduced in this paper, is an open research platform for everyone that wants to validate novel ideas and approaches in the area of self-driving heavy-duty vehicle platooning. The platform consists of multiple 1/14 scale semi-trailer trucks, a scale proving ground, and associated computing, communication and control modules that enable self-driving on the proving ground. A perception system for each vehicle is composed of a lidar-based object tracking system and a lane detection/control system. The former is to maintain the gap to the leading vehicle and the latter is to maintain the vehicle within the lane by steering control. The lane detection system is optimized for truck platooning where the field of view of the front-facing camera is severely limited due to a small gap to the leading vehicle. This platform is particularly amenable to validate mitigation strategies for…
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Taxonomy
TopicsAutonomous Vehicle Technology and Safety · Traffic control and management · Vehicular Ad Hoc Networks (VANETs)
