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PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines

文献类型：期刊论文

作者Ai, Yunfeng1,2; Liu, Yuhang3,4; Gao, Yu2; Zhao, Chen3,4; Cheng, Xiang3,4; Han, Jinpeng5,6; Tian, Bin4; Chen, Long4; Wang, Fei-Yue4
刊名IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
出版日期2024
卷号9期号:1页码:1402-1411
关键词Testing Autonomous vehicles Processor scheduling Digital twins Computational modeling Games Engines PMWorld (parallel mines world) parallel testing mining autonomous driving
ISSN号2379-8858
DOI10.1109/TIV.2023.3332739
通讯作者Liu, Yuhang(liuyuhang2021@ia.ac.cn) ; Gao, Yu(yu.gao@waytous.com)
英文摘要Autonomous driving will be widely deployed in the near future which can efficiently reduce the workload on human drivers. Unlike complicated urban driving conditions, fully autonomous driving is expected to be implemented in closed and relatively simple environments, e.g., mines. Autonomous driving in mines holds substantial practical value that can significantly reduce mining costs and enhance operational efficiency. To ensure vehicle safety, unmanned driving systems should be rigorously tested before deployment. With the rapid development of digital twin technology, offline testing in cyberspace has gained increasing significance. While numerous driving simulators have been recently released, none of them can support simulation tests in mines. In addition, due to the ignorance of human factors in the system, the digital twin in CPS (Cyber-Physical Systems) is inadequate for developing next-generation intelligent testing systems. To address these issues, we propose PMWorld (Parallel Mines World) based on parallel intelligence in this paper, which is a novel parallel testing platform for autonomous mining vehicles. It not only considers human behaviors during testing but also constitutes a closed loop between physical and virtual systems, allowing for more efficient testing methods. We also introduce the key technical infrastructures for constructing the PMWorld platform and present various testing functionalities supported by PMWorld, including HIL (Hardware-In-the-Loop) test, RIL (Road-In-the-Loop) test, virtual-real interactive test, and integrated test with the scheduling system.
WOS关键词DIGITAL TWINS ; METAVERSES ; INTELLIGENCE ; SIMULATION ; SYSTEMS ; CPS
资助项目National Key R&D Program of China[2022YFB4703700]
WOS研究方向Computer Science ; Engineering ; Transportation
语种英语
WOS记录号WOS:001173317800120
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key R&D Program of China
源URL[http://ir.ia.ac.cn/handle/173211/58755]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者Liu, Yuhang; Gao, Yu
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Waytous Inc, Qingdao 266109, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
5.Xi An Jiao Tong Univ, Sch Software Engn, Xian 710049, Peoples R China
6.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Ai, Yunfeng,Liu, Yuhang,Gao, Yu,et al. PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(1):1402-1411.
APA Ai, Yunfeng.,Liu, Yuhang.,Gao, Yu.,Zhao, Chen.,Cheng, Xiang.,...&Wang, Fei-Yue.(2024).PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(1),1402-1411.
MLA Ai, Yunfeng,et al."PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.1(2024):1402-1411.

入库方式： OAI收割

来源：自动化研究所

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