Remote Vehicle Operation Delay Compensation for Image and Control Stability
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Solution Overview
Problem
Existing remote operation systems face challenges in accurately compensating for communication delays, leading to image distortion and destabilization of vehicle behavior due to increased displacement and operation frequency, making it difficult for remote operators to grasp the situation around the moving body.
Innovation Solution
A dual delay compensation process is implemented, combining homography-based image compensation and model predictive control (MPC) to correct both camera images and remote operation information, enhancing accuracy and stability by addressing the limitations of each method independently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If homography-based delay compensation is applied to camera images, then the remote operator can see future position images, but image distortion increases with vehicle displacement
Solution Approach 1:
The patent dynamically adjusts the homography transformation parameters based on the predicted vehicle trajectory and communication delay characteristics. By making the transformation adaptive rather than static, the system optimizes the balance between delay compensation effectiveness and image distortion control for varying driving conditions
Solution Approach 2:
The system changes key parameters including the transformation matrix, prediction time horizon, and compensation strength based on real-time vehicle state and communication conditions. This allows flexible adjustment of the compensation effect while controlling distortion levels
2Speed
If delay compensation is performed on remote operation information, then vehicle control responsiveness improves, but system complexity increases
Solution Approach 1:
The system performs preliminary prediction of vehicle state and operation information before the actual communication delay occurs. By pre-calculating compensated values based on predicted trajectories, the system reduces the computational burden during real-time control while improving responsiveness
3Measurement precision
If high displacement compensation is applied, then future position accuracy improves, but image quality deteriorates due to excessive distortion
Solution Approach 1:
The system applies partial homography transformation rather than full transformation, selectively compensating for delay effects while limiting the transformation magnitude. This partial action approach maintains position prediction accuracy while preventing excessive image distortion that would degrade quality
Data Source
AI summary
A remote operation system is for a remote operation of a moving body performed by a remote operator. The remote operation system executes a delay compensation process that compensates for a communication delay between the moving body and a remote operator terminal. The delay compensation process includes a first delay compensation process and a second delay compensation process. The first delay compensation process is performed with respect to an image that is captured by a camera mounted on the moving body and is to be presented to the remote operator, thereby visually compensating for the communication delay. The second delay compensation process is performed with respect to remote operation information reflecting an amount of operation performed by the remote operator, and the moving body is controlled in accordance with the delay compensated operation information.