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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
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<title>MSH-MCCT</title>
<link rel="icon" type="image/x-icon" href="static/images/Tsinghua_University_Logo.png">
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
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</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Demonstration for MSH-MCCT</h1>
<h2 class="subtitle has-text-centered"> <!-- Adjusted font size and alignment -->
MSH-MCCT is a multi-source human-in-the-loop experimental platform for connected and autonomous vehicles in mixed traffic flow.
</h2>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<a href="https://scholar.google.com/citations?user=ncDpC9gAAAAJ&hl=en" target="_blank">Jianghong Dong</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://wjiawei.com" target="_blank">Jiawei Wang</a><sup>2,*</sup>,</span>
<span class="author-block">
<a href="" target="_blank">Chunying Yang</a><sup>1</sup>
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=MlK35S4AAAAJ&hl=en" target="_blank">Mengchi Cai</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=T6MoOScAAAAJ&hl=en" target="_blank">Chaoyi Chen</a><sup>1</sup>,
</span>
<br>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=7XuJsS8AAAAJ&hl=en" target="_blank">Qing Xu</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=5mUoFN0AAAAJ&hl=en" target="_blank">Jianqiang Wang</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=x58fnLQAAAAJ&hl=en" target="_blank">Keqiang Li</a><sup>1,*</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Tsinghua University, <sup>2</sup>University of Michigan</span>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- Teaser video-->
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<h2 class="title is-3">Experiment A: traffic wave scenario</h2>
<video poster="" id="tree" controls muted height="100%">
<!-- Your video here -->
<source src="https://github.com/HONGcalmJIN/MSH-MCCT-assets/assets/52435441/440c34bf-39bb-4425-8a4d-d1a5498c42a6"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
In Experiment A, the CACC controllers enable the CAVs to dampen the velocity fluctuation of the head vehicle, preventing disturbances
from amplifying within the platoon, while the human drivers are amplifying these fluctuations, especially the last one.
</h2>
</div>
</div>
</section>
<!-- End teaser video -->
<!-- Teaser video-->
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<h2 class="title is-3">Experiment B: safety-critical scenario</h2>
<video poster="" id="tree" controls muted height="100%">
<!-- Your video here -->
<source src="https://github.com/HONGcalmJIN/MSH-MCCT-assets/assets/52435441/3773b9e4-b290-4ba3-a1f6-727e1b15685a"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
In Experiment B, the CAVs distributed in the platoon mitigate the amplification of fluctuations caused by the head vehicle's sudden braking.
In particular, since all the collisions involve at least one virtual vehicle, no actual damage is incurred by any vehicle.
</h2>
</div>
</div>
</section>
<!-- End teaser video -->
<!-- Paper abstract -->
<section class="section hero is-light">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with multiple human-driven
vehicles (HDVs). This paper presents MSH-MCCT (Multi-Source Human-in-the-Loop Mixed Cloud Control Testbed), a novel CAV testing
platform designed to capture the complex multi-interactivity among various CAVs and HDVs. This platform is developed based on a notion
of Mixed Digital Twin (mixedDT), which integrates Mixed Reality into the Digital Twin framework, and thus allows physical entities to
coexist and interact with virtual entities via their respective digital counterparts. Under the mixedDT framework, MSH-MCCT consists of physical,
virtual, and mixed platforms, and multi-source control input. Bridged by the mixed platform, human drivers and CAV algorithms could
control both physical and virtual vehicles. This enables cooperation between physical and virtual CAVs and HDVs within an integrated
environment, greatly enhancing the experimental flexibility and scalability. Experiments on vehicle platooning in mixed traffic validate
the capability of MSH-MCCT to conduct CAV testing while integrating multi-source real human drivers through diverse-fidelity driving
simulators.
</p>
</div>
</div>
</div>
</div>
</section>
<!-- End paper abstract -->
<!-- Single Image with Title -->
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<h2 class="title is-3" style="max-width: 80%; margin: auto; text-align: left;">Detailed schematic</h2> <!-- Title for the image -->
<br>
<div class="image-container has-text-centered" style="max-width: 80%; margin: auto;">
<!-- Your image here with adjusted width -->
<img src="static/images/MSH-snapshotV2.jpg" alt="Descriptive Alt Text" style="height: auto;"/>
</div>
</div>
</div>
</section>
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<section class="hero is-small">
<div class="hero-body">
<div class="container">
<h2 class="title is-3" style="max-width: 70%; margin: auto; text-align: left;">Detailed mode of operation</h2> <!-- Title for the image -->
<br>
<div class="image-container has-text-centered" style="max-width: 70%; margin: auto;">
<!-- Your image here with adjusted width -->
<img src="static/images/formation.jpg" alt="Descriptive Alt Text" style="height: auto;"/>
</div>
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</section>
<!-- Related work -->
<section class="hero is-small">
<div class="hero-body">
<div class="container">
<h2 class="title is-3" style="max-width: 70%; margin: auto; text-align: left;">Related work</h2> <!-- Title for the image -->
<br>
<!-- maybe a little similar to current work -->
<!-- <h4 class="title is-size-5" style="max-width: 70%; margin: auto; text-align: left;">1. <a href="https://dongjh20.github.io/MCCT" target="_blank">Mixed cloud control testbed for vehicle-road-cloud integration system</a></h4>
<br>
<h4 class="subtitle has-text-justified" style="max-width: 70%; margin: auto; text-align: left;">Dong J, Xu Q, Wang J, et al. Mixed cloud control testbed: Validating vehicle-road-cloud integration via mixed digital twin[J]. IEEE Transactions on Intelligent Vehicles, 2023. <a href="https://arxiv.org/abs/2212.02007" target="_blank">[paper link]</a> <a href="https://dongjh20.github.io/MCCT" target="_blank">[video link]</a></h4>
<br> -->
<h4 class="title is-size-5" style="max-width: 70%; margin: auto; text-align: left;">1. <a href="https://github.com/cmc623/Formation-control-experiments" target="_blank">Multi-vehicle coordinated formation control in multiple lanes</a></h4>
<br>
<h4 class="subtitle has-text-justified" style="max-width: 70%; margin: auto; text-align: left;">Cai M, Xu Q, Yang C, et al. Experimental Validation of Multi-Lane Formation Control for Connected and Automated Vehicles[C]//2023 IEEE International Conference on Unmanned Systems (ICUS). IEEE, 2023: 1267-1273. <a href="https://arxiv.org/abs/2112.00312" target="_blank">[paper link]</a> <a href="https://github.com/cmc623/Formation-control-experiments" target="_blank">[video link]</a></h4>
<br>
<h4 class="title is-size-5" style="max-width: 70%; margin: auto; text-align: left;">2. <a href="https://github.com/soc-ucsd/DeeP-LCC" target="_blank">Data-enabled predictive leading cruise control in mixed traffic</a></h4>
<br>
<h4 class="subtitle has-text-justified" style="max-width: 70%; margin: auto; text-align: left;">Wang J, Zheng Y, Dong J, et al. Implementation and experimental validation of data-driven predictive control for dissipating stop-and-go waves in mixed traffic[J]. IEEE Internet of Things Journal, 2023. <a href="https://arxiv.org/abs/2204.03747" target="_blank">[paper link]</a> <a href="https://www.youtube.com/watch?v=ZZ2cWhapqpc" target="_blank">[video link]</a></h4>
</div>
</div>
</section>
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<p class="columns is-centered" >©2024 Jianghong Dong</p>
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