Open Source Software for Teleoperated Driving
Open Source Software for Teleoperated Driving
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用于遥控驾驶的开源软件
DOI：
10.1109/iccve52871.2022.9742859
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Frank Diermeyer
中科院分区：
文献类型：
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作者：
Andreas Schimpe;Johannes Feiler;S. Hoffmann;Domagoj Majstorovic;Frank Diermeyer
远程操作允许人类操作员在危险或难以进入的区域与移动机器人进行远程交互和控制。除了太空探索或搜救行动等众所周知的应用之外，远程操作在自动驾驶领域的应用，即远程操作驾驶（ToD）也越来越受欢迎。远程操作员可以使用蜂窝网络连接到车辆，并解决超出自动驾驶车辆 (AV) 操作设计范围的情况，而不是车内的人工后备驾驶员。自动驾驶汽车和一般无人驾驶地面车辆的远程操作会带来不同的问题，这些问题是正在进行的研究的重点。本文提出了一个开源 ToD 软件堆栈，该软件堆栈是为了开展这项研究而开发的。如三个演示所示，只需很少的开销即可部署软件堆栈来远程控制各种车辆系统。
Teleoperation allows a human operator to remotely interact with and control a mobile robot in a dangerous or inaccessible area. Besides well-known applications such as space exploration or search and rescue operations, the application of teleoperation in the area of automated driving, i.e., teleoperated driving (ToD), is becoming more popular. Instead of an in-vehicle human fallback driver, a remote operator can connect to the vehicle using cellular networks and resolve situations that are beyond the automated vehicle (AV)'s operational design domain. Teleoperation of AVs, and unmanned ground vehicles in general, introduces different problems, which are the focus of ongoing research. This paper presents an open source ToD software stack, which was developed for the purpose of carrying out this research. As shown in three demonstrations, the software stack can be deployed with minor overheads to control various vehicle systems remotely.