Remote Vehicle Teleoperation Using Filtered Motion Options
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Solution Overview
Problem
Autonomous vehicles may encounter rare or unexpected events that prevent them from continuing to their intended destination, necessitating precise and safe control methods beyond standard autonomous navigation.
Innovation Solution
The vehicle determines a subset of predetermined motion options based on current environmental conditions and transmits them to a remote system, where an operator or computer selects a suitable motion option for controlling the vehicle, ensuring safe and precise maneuvering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the vehicle uses standard autonomous navigation, then it can operate independently, but it cannot handle rare or unexpected events that prevent continuation to the intended destination
Solution Approach 1:
A remote operator serves as an intermediary between the autonomous vehicle and human control. When the vehicle encounters rare or unexpected events it cannot handle autonomously, control is transferred to the remote operator who can make judgment calls based on real-time sensor data and contextual understanding, thus bridging the gap between autonomous operation and human decision-making capability
Solution Approach 2:
The system dynamically switches between autonomous and remote-operated modes based on the vehicle's ability to handle current conditions. The autonomous vehicle operates independently under normal conditions, but automatically transitions to remote operation when encountering unexpected events, creating a flexible control architecture that adapts to varying operational requirements
2Reliability
If the vehicle transmits all motion options to the remote system, then the operator can select the best option, but the data transmission volume and processing time increase
Solution Approach 1:
The system extracts and transmits only the most relevant motion options to the remote operator rather than all possible options. The autonomous vehicle pre-processes the motion options and identifies a subset that is most likely to be suitable given current sensor data and environmental context, reducing data transmission volume while maintaining control quality
Solution Approach 2:
The autonomous vehicle performs preliminary analysis of motion options before transmission to the remote system. By pre-evaluating and filtering motion options based on current conditions, the vehicle prepares a refined set of candidates in advance, reducing the computational burden on the remote system and minimizing overall processing time
3Measurement precision
If the vehicle performs complex computational analysis of all motion options, then the best option can be selected autonomously, but the computational load and processing time increase
Solution Approach 1:
The autonomous vehicle performs partial computational analysis by evaluating only the most promising motion options rather than exhaustively analyzing all possible options. This selective approach achieves sufficient decision-making accuracy for most scenarios while significantly reducing computational energy consumption, reserving full analysis for critical situations
Data Source
AI summary
According to an aspect of the disclosure, a method is provided comprising receiving sensor data from a sensor of a vehicle, such as an autonomous vehicle, and determining, based at least in part on the sensor data, a subset of motion options from a predetermined set of motions options associated with controlling the vehicle. A representation of the subset of motion options is transmitted to a remote system. A first motion option of the subset of motion options is received from the remote system, and the vehicle is controlled based at least in part on the first motion option.