Small-scale Cooperative Vehicle Platform (SCVP):

In the first year of my PhD, I initiated the SCVP project and led a team of 8 undergraduate and 2 Masters level students to design & develop a test platform for research on connected and autonomous vehicles (CAVs). We built a fleet of 1/5 & 1/10 scale vehicles equipped with LiDAR, stereo camera, and on-board GPU/CPU units. The SCVP vehicles are able to reach and maneuver at 60mph speed, which makes them a realistic testbed for CAV applications. I was responsible for mechanical & electrical design as well as implementation, developing the autonomous driving software stack, and mentoring the team.

Project Overview:

SCVP vehicles are equipped with NVIDIA Jetson TX2 AI computers, a ZED Stereo camera, 3D LiDAR, and a long-range Li-Ion battery. The vehicles are able to reach 60mph and perform driving maneuvers such as platooning and lane change at high speed.

The source-code and autonomous driving software stack of this project is publicly available on Github, please feel free to reach out if you need more information or the up-to-date repository.

Behrad Toghi

UCF-SCVP Team in 2017

The Small-scale Cooperative Vehicle Platform (SCVP) project started with 6 undergraduate and 1 masters student at University of Central Florida. I supervised the team and mentored the undergraduate student to present a demo of the project as their final-year senior design project.

Behrad Toghi

Undergraduate students working on the prototype at UCF facility.

Behrad Toghi

Presenting a demo to project PI (Dr. Yaser P. Fallah) at CAVREL lab.

Cad design for electronic devices, wiring, and 3D-printed parts:


The Completed SCVP Fleet (2017 version showed in the photos):

SCVP equipped with a stereo camera in the front and a 3D LiDAR on top.

Behrad Toghi

Each SCVP carries an NVIDIA Jetson TX2 board and can navigate independently.

Behrad Toghi

IEEE 802.11 communication allows SCVP vehicles to communicate in an ad-hoc fashion.

Behrad Toghi

The 1/10 scale SCVP fleet (5 vehicles in total)

Team & Acknowledgement:

The SCVP project was funded and supported by Connected & Automated Vehicle Research Lab (CAVREL) at University of Central Florida under the supervision of Dr. Yaser P. Fallah. I had the opportunity to lead and mentor 10 students between 2017 and 2020:

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