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---
layout: default
---
<!-- 设置页面布局为默认布局 --> <!-- 代码片段展示了一个基于Jekyll模板的静态网页结构. -->
<!-- 页眉部分，使用了Bootstrap的jumbotron类，主要用于展示MineSim的标题和简介 -->
<div class="header-container jumbotron">
<div class="container">
<!-- 主标题，展示MineSim的概述 -->
<h2 class="custom-title">MineSim: Scenario-Based Simulator for Autonomous Truck Planning in Open-Pit Mines</h2>
<!-- 简短的介绍，概述系统的主要功能 -->
<p>MineSim includes functionalities for automated scenario parsing, state updates for the ego vehicle and other
agents,
and metric evaluation and visualization tools.</p>
<!-- 链接到更多文档 -->
<p><a class="btn btn-primary btn-lg" href="{{ "/docs/home/" | relative_url }}" role="button">Learn more</a></p>
</div>
</div>
<!-- 主内容容器 -->
<div class="container">
<div class="row">
<!-- <div class="col-md-6">左边内容区，数字可以调整栅格列数大小； 在 Bootstrap 栅格系统中，栅格系统是基于12列的，意味着左右两部分加起来的栅格数应为12 -->
<div class="col-lg-7 col-md-6"><!-- 左边内容区：大屏占7个栅格，小屏占6个栅格 -->
<h4 class="header-light regular-pad">MineSim Simulator</h4>
<!-- 强调MineSim的功能和用途 -->
<!-- <p class="lead"><strong>MineSim</strong>, an open-source, scenario-based simulation test system specifically developed for
<strong>planning tasks </strong> of autonomous trucks in open-pit mines.</p> -->
<!-- 详细说明MineSim的组成部分，包括模拟引擎、指标系统、场景可视化工具等功能 -->
<p class="lead"><strong>MineSim</strong>, an open-source, scenario-based simulation test system specifically
developed for <strong>planning tasks </strong> in open-pit mines. MineSim consists of three main
components: the Simulation Engine, the Metric System, and the Scenario Visualization tool. The
Simulation Engine serves as the core of MineSim.It loads and parses scenarios from the scenario library
via the Environment Manager, then implements closed-loop simulation tests for autonomous mining trucks
through the sequential execution of the Planning Algorithm, Ego Update Model, and Agent Update Policy.
</p>
</div>
<!-- <div class="col-md-6 text-center">右边内容区 -->
<div class="col-lg-5 col-md-6 text-center"><!-- 右边内容区：大屏占5个栅格，小屏占6个栅格 -->
<!-- <img src="{{ "/assets/img/system-architecture-minesim.png" | relative_url }}" alt="Jekyll logo" class="img-responsive"> -->
<img src="{{ "/assets/img/system-architecture-minesim.png" | relative_url }}" alt="system architecture"
class="img-responsive">
</div>
</div>
<hr>
<!-- 在主内容区添加新的行，增加视频和GIF -->
<div class="row">
<p class="lead">The Ego Update Model is responsible for updating the state of the ego vehicle in the simulation.
It receives actions output by the tested algorithm, represented as [acceleration, steering angle], and
generates the ego vehicle's updated state for the next step. The Agent Update Policy uses multiple agent
objects and environmental states as inputs to determine the appropriate actions and next state for
controllable agents within the scenario. The Metric System enables users to create a customized evaluation
framework focused on specific performance after a set of scenario tests. It includes four main categories:
safety, efficiency, smoothness, and task completion. The Scenario Visualization tool provides both 2D
top-down and 3D views of the test scenarios, helping users better understand and demonstrate the proposed
algorithms' performance.</p>
</div>
<hr>
<!-- 在主内容区添加新的行，增加视频和GIF -->
<div class="row">
<!-- 左边内容区 -->
<div class="col-lg-6 col-md-6">
<h4 class="text-center"> Scenario 2D Visualizer</h4>
<p class="lead">Scenario ID:dapai_intersection_1_3_4. Planning Method: Sampling Planner using Predefined Maneuver Modes
(SPPMM). </p>
<img style="display:block; width:100%; height:auto;"
src="https://raw.githubusercontent.com/byChenZhifa/archive/main/minesim//gifs/web-dapai_intersection_1_3_4-sppmm.gif"
alt="Example GIF">
</div>
<!-- 右边内容区，展示系统架构的图片 -->
<div class="col-lg-6 col-md-6 text-center">
<h4 class="text-center"> Scenario 3D Visualizer</h4>
<p class="lead">Scenario ID:dapai_intersection_1_3_4. Planning Method: SPPMM. An example of a collision occurring.</p>
<video style="display:block; width:100%; height:auto;" autoplay="autoplay" muted loop="loop" controls
playsinline>
<source
src="https://raw.githubusercontent.com/byChenZhifa/archive/main/minesim/3D-dapai_intersection_1_3_4.mp4"
type="video/mp4" />
</video>
</div>
</div>
<hr>
<!-- 三个功能模块的介绍部分 -->
<div class="row">
<div class="col-sm-4"><!-- 功能模块1-->
<h1 class="text-center"><i class="fa fa-pencil" aria-hidden="true"></i></h1>
<!-- 功能模块1标题 -->
<h4 class="text-center">Dynamic obstacle scenario library and benchmark</h4>
<!-- 功能模块1内容 -->
<p>This library focuses on testing obstacle avoidance in mixed traffic at mining
intersections. Its scenarios feature unstructured intersections with varying slopes and irregular
shapes, where autonomous mining trucks interact with other vehicles.
The main goal is to assess the trucks' smooth obstacle avoidance. Task settings and benchmark algorithms
are detailed in <code>Code Repository</code>: <a
href="https://github.com/buaa-trans-mine-group/minesim-dynamic">MineSim-Dynamic</a>.
</p>
</div>
<div class="col-sm-4"><!-- 功能模块2-->
<h1 class="text-center"><i class="fa fa-cogs" aria-hidden="true"></i></h1>
<h4 class="text-center">Static obstacle scenario library and benchmark</h4>
<p>This library is designed to test obstacle avoidance with static obstacles on mining roads. It records
scenarios where the trucks face static obstacles
of various sizes on roads with different curves and widths. The focus is on assessing the ability of
autonomous mining trucks to plan smooth, efficient
trajectories. Detailed task settings and benchmark algorithms are provided
in <code>Code Repository</code>: <a
href="https://github.com/buaa-trans-mine-group/minesim-static">MineSim-Static</a>.</p>
</div>
<div class="col-sm-4"><!-- 功能模块3-->
<h1 class="text-center"><i class="fa fa-code-fork" aria-hidden="true"></i></h1>
<h4 class="text-center">Scenario visualization tool</h4>
<p>MineSim provides two Scenario Visualization Tools: the 2D Visualizer and the 3D Visualizer.The 2D
Visualizer, developed using the Python matplotlib, renders
top-down views of each frame of a single scenario based on the simulation log file. The 3D Visualizer,
developed using ROS, renders 3D views of each frame
in a scenario based on the simulation log file (see <code>Code Repository</code>: <a
href="https://github.com/BUAA-TRANS-Mine-Group/MineSim-3DVisualTool">MineSim-3DVisualTool</a> ).</p>
</div>
</div>
</div>