On path tracking control of vehicles via the Internet, transmission delay and jitter prevent them from tracking a target path accurately. To improve the control accuracy, it is effective to apply digital twin computing and jitter buffer to the control system. The control system with jitter buffer has an issue of optimizing buffering time. Through simulations by using some realistic transmission delay models, we quantitatively evaluated the control accuracy depending on the buffering time. As a result, we showed that buffered packet rate (BPR) can be a key index to optimize the buffering time according to transmission delay.
Our previous study quantitatively evaluated that digital twin computing was effective for remote control of a small vehicle by a cloud server through simulations. To confirm the effectiveness, we realized an experimental remote control system with digital twin model (DTM) of a small vehicle. Then, we evaluated the vehicle control accuracy on remote path tracking control. This letter shows the results. We confirmed that the DTM improved the control accuracy when there existed one-way transmission delay of 500 ms. In addition, we evaluated reduction of the control accuracy due to modeling error between the DTM and the real vehicle.
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