Teleoperation Command Center Delay Compensation
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Solution Overview
Problem
In teleoperated driving systems, end-to-end communication delays between a command center and a vehicle pose challenges for accurate maneuvering due to variations in network, radio access technology, and communication unit delays, making it difficult to predict and compensate for these delays in real-time.
Innovation Solution
A method is developed to estimate and compensate for uplink and downlink delays by using time stamps, historical delay data, and geographical location information, allowing for the generation of control information that can be applied at future time points to account for expected delays, thereby improving the accuracy of vehicle control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If real-time control commands are transmitted from command center to vehicle, then vehicle responsiveness is improved, but communication delay causes inaccurate maneuvering
Solution Approach 1:
The system performs preliminary actions by predicting future vehicle states and pre-calculating control commands before they are needed. The command center predicts where the vehicle will be at future time points based on current state and delay characteristics, then generates control commands for those predicted future positions, compensating for transmission delays before they affect maneuvering accuracy
Solution Approach 2:
The system implements feedback by continuously monitoring actual communication delays, comparing predicted versus actual vehicle positions, and adjusting delay predictions and control commands accordingly. The vehicle reports its actual position and received command timestamps, enabling the command center to refine delay models and improve future command accuracy
2Measurement precision
If delay compensation is implemented using historical data, then maneuvering accuracy is improved, but system complexity increases
Solution Approach 1:
The system changes parameters by dynamically adjusting delay prediction models based on varying network conditions, geographical locations, and traffic patterns. Instead of using fixed delay values, the system adapts delay characteristics in real-time by selecting appropriate historical data and models based on current conditions, maintaining accuracy without requiring overly complex systems
Solution Approach 2:
The system performs self-service by automatically selecting and applying appropriate delay compensation strategies based on current operating conditions without requiring manual intervention. The command center autonomously monitors delay characteristics, selects relevant historical data, and adjusts control commands accordingly, reducing the need for complex external control mechanisms
Data Source
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AI summary
Embodiments provide methods, computer programs, and apparatuses for a command center and a vehicle, a vehicle and command center. The method (10) for a command center, which is configured to teleoperate a vehicle, comprises receiving (12) input data from the vehicle and estimating (14) a current uplink delay based on the input data from the vehicle. The method (10) further comprises determining (16) an estimated downlink and uplink delay based on the input data and the estimated current uplink delay, and determining (18) control information for the vehicle which allows to at least partly compensate the estimated downlink and uplink delay. The method (10) further comprises transmitting (19) information related to the control information to the vehicle.