Vehicle Teleoperation: Successive Reference-Pose Tracking to Improve Path Tracking and to Reduce Time-Delay Induced Instability

Prakash, J. Udaya; Vignati, Michele; Sabbioni, Edoardo; Cheli, Federico

doi:10.1109/vppc55846.2022.10003367

Cited by 5 publications

(11 citation statements)

References 18 publications

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“…Reprinted with permission from Ref. [31] Parameters used in the state estimation correspond to a FWD typical passenger vehicle and mentioned in Table I.…”

Section: Methodsmentioning

confidence: 99%

“…In our previous research [35], we introduced the pose-based control strategy, SRPT, for vehicle teleoperation. The control station transmits the reference pose, which is the intended vehicle pose, to the vehicle discretely at a rate of 30 Hz.…”

Section: B Previous Workmentioning

confidence: 99%

“…The steering input is passed through the Smith predictor block, which outputs a correction term which needs to be added to the (received) delayed pose to predict the current pose of the vehicle. Smith predictor block is further elaborated in our previous work [35], where its transfer function is presented. It provides the human operator with the sense of controlling the vehicle in real-time by predicting the current position of the vehicle, bypassing the network delay.…”

Section: A Network Delaysmentioning

confidence: 99%

“…The NMPC block on the vehicle side takes into account the reference poses received, it analyzes the current states of the vehicle, and actuator constraints to generate optimized steer and speed commands. The prediction model of NMPC is presented in our previous work [35], [36]. The objective is to synchronize the target reference pose with the trajectory of the vehicle while minimizing inputs (steer-rate and vehicle acceleration) and maintaining a speed close to the reference speed (V Ref ) asked by the human operator.…”

Section: Nmpc Blockmentioning

confidence: 99%

“…Previously, we proposed [31] and evaluated [1] the novel SRPT approach for vehicle teleoperation. It combines the benefits of direct control and waypoint guidance concepts.…”

Section: A Previous Workmentioning

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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“…Reprinted with permission from Ref. [31] Parameters used in the state estimation correspond to a FWD typical passenger vehicle and mentioned in Table I.…”

Section: Methodsmentioning

confidence: 99%

Section: B Previous Workmentioning

confidence: 99%

Section: A Network Delaysmentioning

confidence: 99%

Section: Nmpc Blockmentioning

confidence: 99%

“…Previously, we proposed [31] and evaluated [1] the novel SRPT approach for vehicle teleoperation. It combines the benefits of direct control and waypoint guidance concepts.…”

Section: A Previous Workmentioning

confidence: 99%

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