{"paper":{"title":"Multi-Source Human-in-the-Loop Digital Twin Testbed for Connected and Autonomous Vehicles in Mixed Traffic Flow","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"MSH-MCCT testbed lets physical and virtual CAVs coexist and interact in real time with human drivers in the loop.","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Chaoyi Chen, Chunying Yang, Jianghong Dong, Jianqiang Wang, Jiawei Wang, Keqiang Li, Mengchi Cai, Qing Xu","submitted_at":"2026-03-18T14:14:58Z","abstract_excerpt":"In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with surrounding human-driven vehicles (HDVs). This paper introduces MSH-MCCT (Multi-Source Human-in-the-Loop Mixed Cloud Control Testbed), a novel CAV testbed that captures complex interactions between various CAVs and HDVs. Utilizing the Mixed Digital Twin concept, which combines Mixed Reality with Digital Twin, MSH-MCCT integrates physical, virtual, and mixed platforms, along with multi-source control inputs. Bridged by the mixed platform, MSH-MCCT allows human drivers and CAV algorithms to"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"MSH-MCCT facilitates the coexistence and real-time interaction of physical and virtual CAVs & HDVs, significantly enhancing the experimental flexibility and scalability.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"The mixed platform can bridge physical and virtual environments with sufficiently low latency and high fidelity that the observed interactions remain representative of real-world mixed traffic.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"MSH-MCCT is a multi-source human-in-the-loop mixed cloud control testbed that integrates physical, virtual, and mixed platforms to enable real-time coexistence and interaction between CAVs and HDVs for scalable testing in mixed traffic.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"MSH-MCCT testbed lets physical and virtual CAVs coexist and interact in real time with human drivers in the loop.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"da673a77d8e1ea2506f851c99baeb52d14e54b58b494c495499296f570b09084"},"source":{"id":"2603.17751","kind":"arxiv","version":4},"verdict":{"id":"bb530060-9b01-4b8b-ba76-8c5659afab7d","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-15T08:40:18.509382Z","strongest_claim":"MSH-MCCT facilitates the coexistence and real-time interaction of physical and virtual CAVs & HDVs, significantly enhancing the experimental flexibility and scalability.","one_line_summary":"MSH-MCCT is a multi-source human-in-the-loop mixed cloud control testbed that integrates physical, virtual, and mixed platforms to enable real-time coexistence and interaction between CAVs and HDVs for scalable testing in mixed traffic.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"The mixed platform can bridge physical and virtual environments with sufficiently low latency and high fidelity that the observed interactions remain representative of real-world mixed traffic.","pith_extraction_headline":"MSH-MCCT testbed lets physical and virtual CAVs coexist and interact in real time with human drivers in the loop."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2603.17751/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}