Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Shared Vehicle Teleoperation using a Virtual Driving Interface

가상 운전 인터페이스를 활용한 자동차 협력 원격조종

  • Kim, Jae-Seok (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Lee, Kwang-Hyun (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Ryu, Jee-Hwan (School of Mechanical Engineering, Korea University of Technology and Education)
  • 김재석 (한국기술교육대학교 기계정보공학부) ;
  • 이광현 (한국기술교육대학교 기계정보공학부) ;
  • 유지환 (한국기술교육대학교 기계정보공학부)
  • Received : 2014.08.27
  • Accepted : 2014.12.30
  • Published : 2015.03.01
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Abstract

In direct vehicle teleoperation, a human operator drives a vehicle at a distance through a pair of master and slave device. However, if there is time delay, it is difficult to remotely drive the vehicle due to slow response. In order to address this problem, we introduced a novel methodology of shared vehicle teleoperation using a virtual driving interface. The methodology was developed with four components: 1) virtual driving environment, 2) interface for virtual driving environment, 3) path generator based on virtual driving trajectory, 4) path following controller. Experimental results showed the effectiveness of the proposed approach in simple and cluttered driving environment as well. In the experiments, we compared two sampling methods, fixed sampling time and user defined instant, and finally merged method showed best remote driving performance in term of completion time and number of collision.

Keywords

References

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