TY - GEN
T1 - Open Source Software for Teleoperated Driving
AU - Schimpe, Andreas
AU - Feiler, Johannes
AU - Hoffmann, Simon
AU - Majstorovic, Domagoj
AU - Diermeyer, Frank
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85128225506&partnerID=8YFLogxK
U2 - 10.1109/ICCVE52871.2022.9742859
DO - 10.1109/ICCVE52871.2022.9742859
M3 - Conference contribution
AN - SCOPUS:85128225506
T3 - ICCVE 2022 - IEEE International Conference on Connected Vehicles and Expo
BT - ICCVE 2022 - IEEE International Conference on Connected Vehicles and Expo
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Connected Vehicles and Expo, ICCVE 2022
Y2 - 7 May 2022 through 9 May 2022
ER -