Tele-Operated Vehicle Command Sequencing for Low-Latency Maneuvers
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Solution Overview
Problem
High latencies occur in tele-operated vehicle systems due to delays in controller, actuators, and internal communications, particularly when starting from a standstill, leading to significant operational delays in executing steering commands.
Innovation Solution
The method involves splitting execution tasks into preparation tasks and driving tasks, with a separate preparation signal being sent to the vehicle to initiate tasks that do not change the driving state, allowing the vehicle to prepare before receiving the actual steering command, thereby reducing latency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a steering command is transmitted to change the driving state of a tele-operated vehicle, then the vehicle can execute driving maneuvers, but high latencies occur due to delays in controller, actuators and internal communications
Solution Approach 1:
The system sends a preparation signal before the actual steering command to pre-activate tasks that do not change the driving state (e.g., sensor activation, system readiness). This preliminary action reduces the latency when the actual steering command is received, as the vehicle system is already prepared to execute the maneuver quickly.
Solution Approach 2:
The execution tasks are divided into two categories: tasks that change the driving state (steering, acceleration, braking) and tasks that do not change the driving state (sensor activation, system preparation). This segmentation allows the system to prepare non-critical tasks in advance without affecting the vehicle's current driving state, reducing overall latency.
2Speed
If the vehicle is standing still and the command center triggers the start of a drive, then the vehicle can begin moving, but operating delays occur due to latency in executing the steering command
Solution Approach 1:
Before triggering the actual start command, the system sends a preparation signal that activates preliminary tasks such as sensor activation, system readiness checks, and pre-positioning of actuators. This preliminary action ensures that when the actual start command is received, the vehicle can accelerate immediately without delays.
Solution Approach 2:
The preparation signal triggers tasks that prepare the vehicle for movement without actually changing the driving state. This includes activating sensors, preparing the powertrain, and positioning steering components, all of which occur before the vehicle actually starts moving, reducing start-up delay.
3Ease of operation
If a steering command is sent to change driving speed or direction, then the vehicle can respond to the command, but significant latency results from the moment the operator selects the command to the moment the new driving state is reached
Solution Approach 1:
The system activates preparation tasks in advance that do not change the driving state but prepare the vehicle for the upcoming maneuver. This includes pre-activating relevant sensors, preparing actuator systems, and positioning components, which reduces the time from operator command to actual vehicle response.
Solution Approach 2:
Execution tasks are segmented into those that change the driving state (steering angle, acceleration, braking) and those that do not (sensor activation, system preparation). The preparation signal triggers the non-state-changing tasks in advance, while the actual steering command triggers the state-changing tasks, improving overall responsiveness.
Data Source
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AI summary
Method for a tele-operated driving of a vehicle (11), wherein the vehicle (11) is controlled from a command center (12) via a communication network (17) and wherein the method comprises that the command center (12) transmits a steering command (29) to the vehicle (11) over the communication network (17) to change a driving state of the vehicle (11) in order to execute a driving maneuver. The invention is characterized in that the driving maneuver comprises a sequence of execution tasks (36) and before the steering command (29) is transmitted to the vehicle (11), the command center (12) transmits a separate preparation signal (33) to the vehicle (11) for triggering some or all of those of the execution tasks (36) for which a current driving state of the vehicle (11) remains unchanged and the following steering command (29) comprises the at least one remaining final execution task (36) that finally causes the vehicle (11) to actually change its driving state according to the driving maneuver.