REAL-TIME TELEOPERATION CONTROL SYSTEM FOR AUTONOMOUS VEHICLE

In recent years, there has been a significant surge of interest among autonomous vehicle (AV) companies and researchers in integrating teleoperation as a fallback method. However, it's crucial to acknowledge the limited focus on real-time teleoperation control, particularly in addressing issues related to signal latency and uncertainties in the vehicle's nonlinear dynamics To address this gap, we've developed a teleoperation system that empowers operators to control the vehicle remotely directly. This system utilizes the wave variable approach for communication to mitigate signal latency effects. It utilizes Radial Basis Function Networks (RBFN) to handle uncertainties in the vehicle's nonlinear dynamics We conducted simulations to assess the effectiveness of our approach, revealing enhanced capability for the AV to adhere to operators' desired trajectories. Copyright (c) 2024 The Authors.