遠隔操作運転のためのオープンソースソフトウェア
Open Source Software for Teleoperated Driving
自動運転車の遠隔操作(ToD)研究向けに、様々な車両システムを低コストで遠隔制御できるオープンソースのソフトウェアスタックを開発し、3つの実演で有効性を示した論文。
著者: Andreas Schimpe, Johannes Feiler, Simon Hoffmann, Domagoj Majstorovic, Frank Diermeyer
分類: cs.RO, cs.SE
原文アブストラクト
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.
