GnuPG is the de-facto way to use OpenPGP compliant smart cards. However in order to use the card for anything other than GPG (and SSH), e.g. TLS Client authentication, PKCS#11 is the industry standard used by all other non-GPG software.
The SCD-PKCS#11 authentication module fills this gap and acts as a PKCS#11 provider using GnuPG's smart card daemon (scdaemon) for smart card access, as opposed to PCSCD. As GnuPG comes with its own smart card drivers, no additional driver installation is required.
This is a development preview, so this project is far from feature complete. Some missing features include signing and encryption with keys 01 and 02, key generation on card and thread support.
The SCD-PKCS#11 development preview is available from Github.