Risk-Aware Shared Control for Teleoperation of Automated Vehicles in Dynamic Environments

Teleoperation technology aims to support auto-mated vehicles in situations where no solution to the present scenario can be found. In these situations, decision making is handled by a remote human operator. To overcome safety impairments caused by latencies in data transmission and reduced situational awareness of the remote operator, this work proposes a shared control framework that assists the operator. To enable teleoperation in dynamic environments, risk assessment and prediction methods are integrated into the framework. As a proof of concept, two system implementations are shown. One implementation uses the time-to-collision metric to enhance teleoperation safety in presence of dynamic objects. The second implementation integrates an open-source occlusion awareness module that allows to consider risk arising from traffic participants potentially emerging from occluded areas. The risk and criticality of situations with dynamic objects are reduced by both implementations.