Blended Remote Vehicle Control for Collision and Oscillation Damping
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Solution Overview
Problem
Fully-automated vehicles face challenges in handling unknown or unexpected situations due to limitations in infrastructure changes, obstacles, and network reliability issues during remote operation, leading to potential collisions and oscillations in vehicle control.
Innovation Solution
Implementing blended control techniques that combine sensor information from various non-camera sensors with remote operator inputs, using a supervision module to adjust and correct control signals for smoother and safer vehicle operation, including automatic braking to avoid collisions and dampen oscillations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If trajectory update method is used for remote control, then automated vehicle can operate with less human intervention, but system reliability deteriorates due to limited situational awareness and frequent need for remote operator assistance
Solution Approach 1:
The patent combines automated trajectory update capabilities with remote operator control capabilities into a unified blended control system. The supervision module merges automated vehicle commands with remote operator commands, allowing the system to operate autonomously when conditions are favorable while seamlessly transitioning to remote control when reliability is needed, thus resolving the contradiction between automation extent and system reliability
Solution Approach 2:
The supervision module continuously monitors the driving environment and vehicle state, providing feedback to determine when to switch between automated and remote control modes. This feedback mechanism ensures the system maintains high reliability by detecting situations where automated control becomes insufficient and promptly engaging remote operator assistance
2Adaptability or versatility
If remote operator manually drives the vehicle, then situational awareness and control flexibility improve, but device complexity increases due to network reliability issues and difficulty in perceiving correct information
Solution Approach 1:
The supervision module acts as an intermediary between the remote operator and the vehicle control system. It processes and filters commands from the remote operator, combines them with automated vehicle commands, and manages the blending of control signals. This intermediary function simplifies the overall system complexity by providing a structured interface that handles network reliability issues and information processing automatically
Solution Approach 2:
The blended control system is designed to be universal, capable of operating in multiple modes (fully automated, blended, fully remote) depending on situational requirements. This multi-functionality allows the system to adapt to various network conditions and operational scenarios without requiring separate specialized systems, thereby managing complexity while maintaining control flexibility
3Adaptability or versatility
If remote operator provides full control, then handling of complex scenarios improves, but loss of time increases due to network latency and system delays
Solution Approach 1:
Instead of requiring full remote operator control for all situations, the system applies partial remote control only when necessary. The supervision module assesses the situation and engages remote operator assistance selectively for complex scenarios that exceed automated capabilities, thereby reducing the overall time loss from network latency while maintaining adequate scenario handling capability
4Productivity
If automated vehicle operates at higher speeds with remote control, then productivity increases, but reliability deteriorates due to network reliability issues and difficulty in perception
Solution Approach 1:
The system dynamically adjusts the level of remote operator involvement based on operating conditions including speed. At higher speeds where network latency and perception difficulties become more critical, the supervision module can automatically increase automated control engagement or prompt remote operator assistance, thereby maintaining control reliability while allowing high-speed operation to preserve productivity
Data Source
AI summary
Methods, systems, computer-readable media, and apparatuses for blended control of remote operation of vehicles are presented. The sensors of automated vehicles can detect conditions for which there is no preprogrammed response. In these situations, automated vehicles can engage a remote operator mode. Remote operation of vehicles can be difficult. These techniques can use the automated driving system of the vehicle to monitor the driving commands from a remote operator and the sensor information of the vehicle. The commands from the remote operator can be analyzed by a supervision module in the automated vehicle. The supervision module can also receive vehicle sensor information. The supervision module can correct or adjust the remote operator commands as necessary to avoid collision, dampen remote operator induced oscillations, and provide for a smoother, safer, and more realistic driving experience.