Volvo XC90 “Snowfox”
The Volvo XC90 T6 AWD is equipped with several sensors including, for example, cameras, lidar, radars, high-precision positioning system and accelerometers (IMU). The use of several cameras provides a 360-degree view. Access to the vehicle’s network enables full actuation including steering, acceleration, and braking. The on-board computational power enables edge computing, vehicle control and advanced data logging. An auxiliary power system ensures reliable power supply also when the vehicle is standing still for a longer period. Snowfox is thus well equipped for tests on highway as well as in city environments.
Volvo FH16 “Rhino”
The Volvo FH16 is a 6x4 750hp tractor with Volvo Dynamic Steering and I-Shift transmission. This in combination with the low chassis and liftable rear axle makes it optimized for research on long vehicle combinations and it’s an ideal vehicle for truck-based testing. Rhino is equipped with cameras, lidar, high-precision positioning system and accelerometers (IMU). An on-board auxiliary power system ensures reliable power supply and helps avoid engine idling. There are on-board computers for computational tasks, vehicle control and data logging. There is an interface enabling full vehicle actuation including steering, acceleration and braking. The fully automated fifth wheel enables autonomous trailer coupling and de-coupling and special interfaces have been developed for efficient communication with connected trailers.
Parator steerable dolly “Badger”
A dolly is an unpowered vehicle with a fifth wheel on top and a drawbar in front. The dolly enables connection of a semi-trailer behind another vehicle and it is thus a key component for making longer vehicle combinations. Badger is unique in the way that it has been equipped with steered axles. This feature has been used successfully both for low speed testing (e.g. driving through a roundabout) and high-speed testing (e.g. fast lane changes). Badger is also equipped with an on-board computer and sensors like cameras and lidar, enabling it to be used as a perception slave unit in a long vehicle combination.
Parator semi-trailer “Hippo”
The semi-trailer is equipped with a container chassis for one or two 20-foot containers or one 40 (or 45) foot container. The special king-pin with air and electrical connectors in combination with the electrically actuated landing gear enables fully automated coupling and de-coupling. The king-pin also has a built-in high precision angle sensor. The three axles have air suspension and can all be lifted individually. At the rear the trailer has been equipped with a trailer coupling with integrated air and electrical interfaces enabling fully automated coupling of a trailer or dolly. A second Parator trailer (equipped with king-pin angle sensor etc) is available when needed for testing of long vehicle combinations.
Tamiya truck and trailers “Diplo”
By using a scale model of a real vehicle many tests and preparations can be done inside the lab instead of bringing all the heavy vehicle equipment to the test track. This is also convenient for researchers and students that don’t have a driving license for a truck. Diplo is a 1/14 scale model of a Volvo FH16 6x4 tractor complemented with two semi-trailers and a dolly originally intended for radio control. On-board computers enable full actuation via REVERE’s software platform OpenDLV. There are several cameras and high precision angle sensors for all articulation points enabling different types of autonomous driving.
Race car “Lynx”
This race car has been developed and built by Chalmers students. The complete body is made of carbon fiber making it very light and rigid. It has a fully electrical driveline with a 480V battery and two-wheel motors, one on each rear wheel. Actuators for steering and braking enables full control via the computers. Sensors like cameras and lidar makes the vehicle self-driving and it is used in the international Formula Student Driverless competition.
Miniature cars “Kiwi”
Kiwi is a small 3D-printed car platform (approximately scale 1/10) that has been developed and built by REVERE for use in for example university courses. It is equipped with two small computers, a camera and ultrasonic sensors. This enables development of autonomous functions and also remote control via wifi. Also, this small car platform uses REVERE’s software platform OpenDLV, making it easy to transfer code and algorithms to a full-size vehicle when needed. It total, there are about 50 Kiwi cars available.
Husqvarna robot lawn mower “Hedgehog”
The robot mower makes a perfect platform for students to develop and test different autonomous functions inside the lab. An interface to the built-in ROS-based control system also enables full actuation via REVERE’s software platform OpenDLV. The top shell can be used as a platform for mounting different sensors and additional computers as needed for the specific test.