PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines

doi:10.1109/TIV.2023.3332739

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 平行智能技术与系统团队

	PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines
	Ai, Yunfeng 1,2; Liu, Yuhang 3,4; Gao, Yu 2; Zhao, Chen3,4 ; Cheng, Xiang 3,4; Han, Jinpeng 5,6; Tian, Bin4 ; Chen, Long4 ; Wang, Fei-Yue4
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
ISSN	2379-8858
	2024
卷号	9 期号:1 页码:1402-1411
通讯作者	Liu, Yuhang(liuyuhang2021@ia.ac.cn) ; Gao, Yu(yu.gao@waytous.com)
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.
关键词	Testing Autonomous vehicles Processor scheduling Digital twins Computational modeling Games Engines PMWorld (parallel mines world) parallel testing mining autonomous driving
DOI	10.1109/TIV.2023.3332739
关键词[WOS]	DIGITAL TWINS ; METAVERSES ; INTELLIGENCE ; SIMULATION ; SYSTEMS ; CPS
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2022YFB4703700]
项目资助者	National Key R&D Program of China
WOS研究方向	Computer Science ; Engineering ; Transportation
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号	WOS:001173317800120
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58756
专题	多模态人工智能系统全国重点实验室_平行智能技术与系统团队
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
通讯作者单位	中国科学院自动化研究所
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.