Teleoperated driving, where a remote human op-erator remains in charge of critical driving decisions, is a promising solution to overcome the technical and legal hurdles autonomous vehicles are facing in public traffic. However, network induced latency and available bandwidth are critical constraints in teleoperated driving (ToD), as it relies on high definition video streams sent to the operator and steering and acceleration control commands transmitted back to the vehicle. In this work, we propose fuzzy controllers capable of combining the control output from the human teleoperator with information from a real-time digital twin, i.e., driving lanes, intended routes and network characteristics. The real-time digital twin is a digital copy of the physical vehicle maintained on the teleoperator workstation. An experimental user study in a driving simulator with 10 participants reveals a 31 % increase in lane-keeping accuracy, a significant reduction of crashes and a decrease of teleoperator workload.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fuzzy Shared-Control for Digital Twin-Based Teleoperated Driving Under Network Delay


    Contributors:


    Publication date :

    2024-09-24


    Size :

    1289617 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Digital Twin Enabled Teleoperated Driving Under Network Delay Using Ego Vehicle Tracking

    Kremer, Philipp / Nourani-Vatani, Navid / Park, Sangyoung | IEEE | 2023


    Digital twin for teleoperated driving in urban scenarios

    Kremer, Philipp | TIBKAT | 2024

    Free access

    Extending teleoperated driving using a shared X-in-the-loop environment

    Büchner, Florian / Rieger, David Benjamin / Purschke, Björn et al. | BASE | 2023

    Free access

    Extending teleoperated driving using a shared X-in-the-loop environment

    Büchner, Florian / Rieger, David / Purschke, Björn et al. | DataCite | 2023

    Free access

    Teleoperated driving of a vehicle

    JORNOD GUILLAUME / PFADLER ANDREAS | European Patent Office | 2022

    Free access