Remote Vehicle Control With Dynamic Limits for Meander Suppression
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Solution Overview
Problem
Remote traveling vehicles experience meandering due to communication delays in remote operation, making it difficult to evaluate and control vehicle motion simultaneously, necessitating a method to suppress meandering behavior.
Innovation Solution
The system includes a remote traveling vehicle with a processor that receives remote control information, acquires driving environment information, and adjusts motion control to prevent meandering by setting upper speed limits and steering angle limits, which are dynamically adjusted based on the presence of a following vehicle, thereby mitigating the effects of communication delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If remote control information is transmitted via communication network, then remote traveling operation is enabled, but communication delay causes meandering of vehicle
Solution Approach 1:
The system performs preliminary detection of meandering state using driving environment information before it causes significant instability. By detecting the meandering state in advance and applying correction to motion control amount, the system prevents the communication delay from fully manifesting as harmful vehicle meandering.
Solution Approach 2:
The system establishes a feedback loop where driving environment information is continuously monitored, meandering state is detected, and corrections are applied to motion control amount. This closed-loop control compensates for communication delays by using real-time vehicle state feedback to adjust control commands.
2Stability of the object's composition
If upper speed limit is set to small value to suppress meandering, then vehicle stability improves, but traveling efficiency decreases
Solution Approach 1:
The upper speed limit is made dynamic rather than fixed. When meandering is detected, the upper speed limit is reduced to stabilize the vehicle. When no meandering is present, the speed limit returns to normal levels, maintaining traveling efficiency. This dynamic adjustment resolves the contradiction between stability and efficiency.
3Stability of the object's composition
If limit steering angle is set to small value to suppress meandering, then vehicle stability improves, but responsiveness to remote control decreases
Solution Approach 1:
The limit steering angle is dynamically adjusted based on meandering detection. During normal operation, the full steering range is available for responsive remote control. When meandering is detected, the limit steering angle is reduced to prevent further instability. This dynamic behavior maintains both responsiveness and stability as needed.
4Stability of the object's composition
If meandering correction is applied to motion control amount, then meandering suppression improves, but control complexity increases
Solution Approach 1:
The meandering correction acts as an intermediary layer between remote control information and motion control amount. Rather than modifying the remote control interface or the vehicle hardware, the correction is applied computationally to the motion control amount, simplifying the overall system architecture while achieving meandering suppression.
Data Source
AI summary
A remote traveling vehicle remotely operated by a remote operator receives remote control information of the remote operator from a server via a communication network. The remote traveling vehicle acquires driving environment information of the remote traveling vehicle, and acquires meandering state information including whether a meandering state of the remote traveling vehicle is detected, based on the driving environment information. When the remote-control information includes detection of the meandering condition of the remote traveling vehicle, the remote traveling vehicle adds a limit on the upper speed limit or limit steering angle of the remote traveling vehicle.