Abstract
This paper describes the impact of communication latency (delay) on drivability in remote driving systems, with the aim of expanding the Operational Design Domain (ODD) of remotely controllable automated driving systems. One effective way to expand the ODD is to increase vehicle speed. Understanding how delay affects vehicle behavior and determining an acceptable level of delay are important. In this paper, a driving simulator capable of controlling delay is used to perform specific tasks and correlates delay with driving ease. Through analysis of driver steering operation and yaw-rate, the relationship between driving ease and vehicle behavior is clarified. Additionally, a man-machine simulation model is defined to expand the experimental conditions and reveals the mechanism of vehicle behavior under delay conditions. Finally, the appropriate acceptable level of delay needed to achieve the desired vehicle behavior is clarified.
