Augmenting Self-Driving with Remote Control: Challenges and Directions
Augmenting Self-Driving with Remote Control: Challenges and Directions
复制标题
DOI：
10.1145/3177102.3177104
复制
发表时间：
2018-02
期刊：
影响因子：
--
通讯作者：
Lei Kang;Wei Zhao;Bozhao Qi;Suman Banerjee
中科院分区：
文献类型：
--
作者：
Lei Kang;Wei Zhao;Bozhao Qi;Suman Banerjee
近年来，全世界都在设计自动驾驶或自动驾驶汽车系统，并取得了越来越大的成功。尽管到目前为止取得了许多进展，但这种系统不太可能在所有条件下都达到完美的精度。特别是，当这种车辆遇到以前没有观察到的情况时，或者系统从环境中获得的信息相互冲突时，会出现偶尔的故障。在这种罕见的故障情况下，研究界到目前为止已经考虑了两种选择-将控制权交还给车辆中的驾驶员，这有其自身的挑战和局限性，或者试图安全地“停放”车辆。在本文中，我们认为存在可行的第三种替代方案--在车辆自动驾驶功能出现故障时，系统可以将控制权返回给位于世界各地响应中心的远程人类驾驶员。这种远程人类驾驶员将增强车辆中的自动驾驶系统，只有当故障发生时，这可能是由于恶劣天气，故障，传感器输入矛盾以及其他此类条件。当然，远程驾驶扩展充满了许多挑战，包括在延迟和吞吐量方面需要一些服务质量保证，以及道路上的车辆与响应中心之间的连接，以便远程驾驶员可以有效地对道路状况做出反应。为了了解其中的一些挑战，我们建立了实时流媒体测试平台，并在当今的LTE和Wi-Fi网络下使用不同的参数设置来评估帧延迟。虽然可以应用额外的优化技术来进一步减少流延迟，但我们认识到，通信基础设施的重大新设计是必要的，也是可能的。
Self-driving or autonomous vehicle systems are being designed over the world with increasing success in recent years. In spite of many advances so far, it is unlikely that such systems are going to ever achieve perfect accuracy under all conditions. In particular, occasional failures are anticipated when such vehicles encounter situations not observed before, or conflicting information is available to the system from the environment. Under such infrequent failure scenarios, the research community has so far, considered two alternatives -- to return control to the driver in the vehicle, which has its own challenges and limitations, or to attempt to safely "park" the vehicle out of harm's way. In this paper, we argue that a viable third alternative exists -- on failure of the self-driving function in the vehicle, the system could return control to a remote human driver located in response centers distributed across the world. This remote human driver will augment the self-driving system in vehicles, only when failures occur, which may be due to bad weather, malfunction, contradiction in sensory inputs, and other such conditions. Of course, a remote driving extension is fraught with many challenges, including the need for some Quality of Service guarantees, both in latency and throughput, in connectivity between the vehicles on the road and the response center, so that the remote drivers can react efficiently to the road conditions. To understand some of the challenges, we have set up real-time streaming testbed and evaluate frame latency with different parameter settings under today's LTE and Wi-Fi networks. While additional optimization techniques can be applied to further reduce streaming latency, we recognize that significant new design of the communication infrastructure is both necessary and possible.