Abstract
This paper describes the negative effects of communication latency on the stability of teleoperated vehicles and proposes a stabilization method using model predictive control. This method is designed to expand the operational design domain of teleoperated driving systems, particularly to enhance drivability at high speeds. In this method, a controller can calculate optimal manipulated variables while considering communication latency. This is because it has a model of the controlled system that incorporates predicted communication latency. The proposed method is validated through testing in a digital twin and verified for robust stability against latency.
