Safe Corridor: A Trajectory-Based Safety Concept for Teleoperated Road Vehicles

Hoffmann, Simon; Majstorovic, Domagoj; Diermeyer, Frank

doi:10.1109/iccve52871.2022.9742770

Cited by 6 publications

(1 citation statement)

References 23 publications

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“…However, this teleoperation system was never technically implemented or evaluated. On the other hand, Hoffmann et al [11] used the TG idea to develop a safety concept for the DC mode, generating a Minimal Risk Maneuver (MRM) based on operator command(s) that would be tracked in case of emergency. Finally, discussing the functionalities of a modern AV, Jatzkowski et al [12] suggested that TG might play an essential role as one of the standard RD teleoperation concepts, but provided no further implementation details.…”

Section: Related Workmentioning

confidence: 99%

Survey on Teleoperation Concepts for Automated Vehicles

Majstorovic

Hoffmann

Pfab

et al. 2022

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Driving directionFig. 1: A teleoperated autoTAXI vehicle maneuvering around an improvised construction site C on a test track in Aldenhoven, Germany. The vehicle tracks the trajectory defined by the remote operator (path visualized in blue) from the start position A to the goal position B , effectively solving the AV disengagement scenario. Yellow circles ( ) depict approximate path waypoints specified by a remote operator using the presented teleoperation system.

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Section: Related Workmentioning

confidence: 99%

Survey on Teleoperation Concepts for Automated Vehicles

Majstorovic

Hoffmann

Pfab

et al. 2022

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Vehicle Teleoperation: SRPT Approach Resilience to State Estimation Errors Through Simulation Insights

Prakash,

Vignati,

Sabbioni

2024

Lecture Notes in Mechanical Engineering

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Vehicle teleoperation holds great promise but faces challenges in complex scenarios, limited awareness, and network delays, impacting human operators’ cognitive workload. Our prior work introduced the Successive Reference Pose Tracking (SRPT) approach, transmitting poses instead of steering commands, potentially mitigating delays. Yet, SRPT’s robustness in the face of state estimation inaccuracies and the necessary sensors remain unclear. In this study, we assess SRPT under various challenging environmental conditions and measurement errors using a Simulink-based 14-DOF vehicle model. Results show SRPT’s consistent performance, using estimated states, in worst-case scenarios. Our minimalist sensor setup - IMU, wheel speed encoder, and steer encoder - underscores SRPT’s resilience without relying on GPS, vital for urban environments. This paper highlights SRPT’s robust teleoperation, setting the stage for future real-world vehicle tests prone to measurement errors.

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