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Connected and Automated Vehicles Facilities

Open Connected and Automated Vehicle (OpenCAV)
The OpenCAV group is developing a novel modular, open-architecture, open-interface, and open-source-software based research instrument comprised of: (a) Augmented reality (AR) based simulation to facilitate Simulation- based-Design (SBD) of hardware (e.g. sensor-suites) and software (e.g. algorithms) for a range of Connected and Automated Vehicle (CAV) applications; and (b) Physical real-time hardware-in-the-loop validation on a full-scale vehicle retrofitted with advanced sensing, drive-by-wire, perception, connectivity, computation, and control modules. The instrument will be housed at the International Center for Automotive Research (CU-ICAR) and made accessible to Clemson researchers (and the broader academic research community) via a service-center model.


  • Vehicle: Chrysler Pacifica Hybrid built by AutonomouStuff
  • Actuation and control: New Eagle by-wire control system ECU
  • Sensor Suite: Velodyne LiDAR, Delphi RADAR, Mako Cameras, Novatel GPS/IMU
  • Autonomy software: ROS and Autoware.AI
  • Data storage: Quantum 23TB in-vehicle storage
  • High-performance computation: Clemson’s Palmetto Cluster

Research Areas

  • Design, Sensing, Control and Learning for Autonomy
  • Resilience and Robustness in networked CPS Systems
  • Security, Privacy and Trust in CPS Systems
  • Human Factors in CAV Systems
  • Real-time Simulation, Mixed Reality and Augmented Reality
  • Energy Efficiency for CAV Systems
  • Education


OpenCAV PI: Professor Venkat Krovi


The Eduard Michelin Electronics Laboratory* features a 28' x 20' x 18' RF semi-anechoic chamber and is equipped to make a wide range of electromagnetic emission and susceptibility measurements including most commercial, automotive and military EMC tests. It is also equipped to do real-time RF data collection and processing, as well as diagnostic testing and analysis.

Eduard Michelin lab

The hybrid powertrain integration lab provides functionalities for hardware in the loop evaluations of hybrid and electric powertrain subsystems and  components, control and diagnostic systems, and for environmental evaluation of energy storage systems under realistic loads. The following equipment is available in the laboratory:

  • One AMREL HPS600X168-K0EE programmable DC power supply (0-600V, 0-200A)
  • One AMREL PLWS48K-400-1200 programmable DC load (0-400V, 0-1200A)
  • One 5kW DC load
  • One AMREL 10kW programmable DC power supply (0-50V, 0-200A)
  • One ESPEC ΕΣΞ-4ΧΩ environmental chamber with a 1 m3 working volume and controlled temperatures between -70 to +180oC.
  • One SOLARTRON Analytical 1280Z electrochemical measurement system for impedance spectroscopy

*These facilities may be rented for testing needs.

CU-ICAR laboratory and testing video

Test equipment information and rates