The Perception Modification Concept to Free the Path of An Automated Vehicle Remotely

Feiler, Johannes; Diermeyer, Frank

doi:10.5220/0010433300002932

Cited by 3 publications

(1 citation statement)

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“…Remote assistance or control concepts can be designed in different ways in order to resolve the various fail cases of a complex AD function. For instance, the concept in [6] aims at enabling remote assistance for tasks related to perception. Interactive path planning approaches [7,8] assume a functional perception module and support the AD function at the decision making layer.…”

Section: A Vehicle Teleoperation Conceptsmentioning

confidence: 99%

Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

Schimpe¹,

Majstorovic²,

Diermeyer³

2022

Preprint

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In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control commands. The safe state is defined as a state from which the vehicle can be stopped safely, no matter which steering actions are applied by the operator. This is achieved by first sampling various potential future trajectories. In a second stage, assuming the trajectory with the highest risk, a safe and comfortable velocity profile is optimized. This yields a safe velocity control command for the vehicle. In simulations, the characteristics of the approach are compared to a Model Predictive Control-based approach that is capable of overriding both, the commanded steering angle as well as the velocity. Furthermore, in teleoperation experiments with a 1:10-scale vehicle testbed, it is demonstrated that the proposed ACC approach keeps the vehicle safe, even if the control commands from the operator would have resulted in a collision.

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Section: A Vehicle Teleoperation Conceptsmentioning

confidence: 99%

Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

Schimpe¹,

Majstorovic²,

Diermeyer³

2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

Schimpe

Majstorovic

Diermeyer

2022

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

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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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The Perception Modification Concept to Free the Path of An Automated Vehicle Remotely

Cited by 3 publications

References 0 publications

Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

Survey on Teleoperation Concepts for Automated Vehicles

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