Study on Evaluation of Driving Characteristics of a Remote Pilot of a Vehicle for High Speed Range

Asahi Hiratsuka･Naoki Furugoori･Toshiyuki Sugimachi･Toshiaki Sakurai (Tokyo City University)･Jongseong Gwak (Takushoku University)･Yoshihiro Suda (The University of Tokyo)

With the increasing attention towards mobility services utilizing autonomous driving, there is a growing need to explore remote operation at high speeds. This study replicates the remote driving environment during highway driving using a driving simulator (DS) and evaluates driving characteristics based on DS experimental results. We propose driving assistance systems that take into account the driving characteristics of remote operators and validate their effectiveness through DS experiments.

Stability Improvement of Remote Driving System with Model Predictive Control

Emi Sakaoka･Go Inoue･Rio Suda (Toyota Motor)

This paper shows the negative effect of communication latency on teleoperated vehicle stability and proposes a stabilization method using model predictive control. In this method, the controller can calculate optimal manipulated variables considering communication latency because it has a model of the controlled system with predicted communication latency. This method is validated through testing in the digital twin environment.

Research on Tele-operation Support System that Indicates the Moving Position and Estimates the Amount of Movement by In-vehicle Camera Images

Yuu Miyajima (AIST / Tokyo University of Science)･Shin Kato (AIST)･Makoto Itami (Tokyo University of Science)

Automated vehicles using electromagnetic guide lines, for example, need to travel off the guide lines to avoid fixed obstacles on the roadway. We have proposed a remote control support system that avoids such obstacles not by an autonomous function but by remote control using in-vehicle camera images. In this report, we describe the estimation of the amount of movement using feature points in the vehicle-mounted camera images and the verification of the effectiveness of the system.

Approach Detection of Emergency Vehicles using Siren Sound Processing Considering Ambient Noise in Driving Environments

Ryo Yagyu (AIST / Tokyo University of Science)･Shin Kato (AIST)･Makoto Itami (Tokyo University of Science)

When an autonomous vehicle approaches an emergency vehicle, it is obliged to prioritize the emergency vehicle’s movement and give way. Therefore, there are required to automatically detect the approach of emergency vehicles. This report describes the proposal and evaluation of a detection method that takes into account the noise of the driving environment as a method for detecting the approach of an emergency vehicle using the sound of a siren.