Survey on Teleoperation Concepts for Automated Vehicles

Majstorovic, Domagoj; Hoffmann, Simon; Pfab, Florian; Schimpe, Andreas; Wolf, M.; Diermeyer, Frank

doi:10.1109/smc53654.2022.9945267

Cited by 28 publications

(10 citation statements)

References 37 publications

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“…Other research focuses on the classification and definition of teleoperation concepts and terminologies. Majstorovic et al [ 19 ] conducted a systematic review on different teleoperation concepts that are used as fallback solutions to deal with critical situations and operation design domain limitations in automated vehicles. Teleoperation concepts were grouped into six categories, including Direct Control, Shared Control, Trajectory Guidance, Waypoint Guidance, Interactive Path Planning and Perception Modification.…”

Section: Introductionmentioning

confidence: 99%

Exploration into the Needs and Requirements of the Remote Driver When Teleoperating the 5G-Enabled Level 4 Automated Vehicle in the Real World—A Case Study of 5G Connected and Automated Logistics

Zhang

Edwards

et al. 2023

Sensors

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Connected and automated vehicles have the potential to deliver significant environmental, safety, economic and social benefits. The key advancement for automated vehicles with higher levels of automation (SAE Level 4 and over) is fail-operational. One possible solution for the failsafe mode of automated vehicles is a 5G-enabled teleoperation system controlled by remote drivers. However, knowledge is missing regarding understanding of the human–machine interaction in teleoperation from the perspective of remote drivers. To address this research gap, this study qualitatively investigated the acceptance, attitudes, needs and requirements of remote drivers when teleoperating a 5G-enabled Level 4 automated vehicle (5G L4 AV) in the real world. The results showed that remote drivers are positive towards the 5G L4 AV. They would like to constantly monitor the driving when they are not controlling the vehicle remotely. Improving their field of vision for driving and enhancing the perception of physical motion feedback are the two key supports required by remote drivers in 5G L4 AVs. The knowledge gained in this study provides new insights into facilitating the design and development of safe, effective and user-friendly teleoperation systems in vehicle automation.

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Section: Introductionmentioning

confidence: 99%

Exploration into the Needs and Requirements of the Remote Driver When Teleoperating the 5G-Enabled Level 4 Automated Vehicle in the Real World—A Case Study of 5G Connected and Automated Logistics

Zhang

Edwards

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…A teleoperation system can apparently be considered a backup plan for AVs. The goal of teleoperation technology is to offer a secure and effective method to get over these restrictions anytime an autonomous driving (AD) function hits the limits of its Operational Design Domain (ODD) [2].…”

Section: Introductionmentioning

confidence: 99%

“…Over the years, different teleoperation concepts for road vehicles have been developed and researched. Domagoj Majstorovic et al [2] suggest a taxonomy for vehicle teleoperation approaches:…”

Section: Introductionmentioning

confidence: 99%

“…The use of teleoperation technology is to offer a secure and effective method to get over these restrictions anytime an AD function hits the limits of its ODD. The AV can resume its voyage in full automation after it has been returned to its nominal ODD [1]. Vehicle teleoperation has the potential to also revolutionize various industries, such as autonomous taxi service, industrial equipment teleoperation, disaster response, and military operations.…”

mentioning

confidence: 99%

“…Significant delays can cause overcorrection by the operator, resulting in oscillations that impair teleoperation performance and may even destabilize the control loop [4], [5]. Over time, various concepts for teleoperating road vehicles have been developed and researched [1], including direct control, shared control, trajectory guidance, interactive path planning, and perception modification. Direct control [6]- [13] involves the operator viewing sensor data and sending control signals like steering and throttle, but it suffers from reduced situational awareness and transmission latency.…”

mentioning

confidence: 99%

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Vehicle Teleoperation: Human in the Loop Performance Comparison of Smith Predictor with Novel Successive Reference-Pose Tracking Approach

Prakash

Vignati

Sabbioni

et al. 2022

Sensors

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Vehicle teleoperation has the ability to bridge the gap between completely automated driving and manual driving by remotely monitoring and operating autonomous vehicles when their automation fails. Among many challenges related to vehicle teleoperation, the considered ones in this work are variable time delay, saturation of actuators installed in vehicle, and environmental disturbance, which together limit the teleoperation performance. State-of-the-art predictive techniques estimate vehicle states to compensate for the delays, but the predictive states do not account for sudden disturbances that the vehicle observes, which makes the human-picked steer inadequate. This inadequacy of steer deteriorates the path-tracking performance of vehicle teleoperation. In the proposed successive reference-pose-tracking (SRPT) approach, instead of transmitting steering commands, the reference trajectory, in the form of successive reference poses, is transmitted to the vehicle. This paper introduces a method of generation of successive reference poses with a joystick steering wheel and compares the human-in-loop path-tracking performance of the Smith predictor and SRPT approach. Human-in-loop experiments (with 18 different drivers) are conducted using a simulation environment that consists of the integration of a real-time 14-DOF Simulink vehicle model and Unity game engine in the presence of bidirectional variable delays. Scenarios for performance comparison are low adhesion ground, strong lateral wind, tight corners, and sudden obstacle avoidance. Result shows significant improvement in reference tracking and in reducing human effort in all scenarios using the SRPT approach.

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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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Survey on Teleoperation Concepts for Automated Vehicles

Cited by 28 publications

References 37 publications

Exploration into the Needs and Requirements of the Remote Driver When Teleoperating the 5G-Enabled Level 4 Automated Vehicle in the Real World—A Case Study of 5G Connected and Automated Logistics

Exploration into the Needs and Requirements of the Remote Driver When Teleoperating the 5G-Enabled Level 4 Automated Vehicle in the Real World—A Case Study of 5G Connected and Automated Logistics

Vehicle Teleoperation: Human in the Loop Performance Comparison of Smith Predictor with Novel Successive Reference-Pose Tracking Approach

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

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