Image Presentation Method Based on Wave Variable Transformation for Steering Stabilization in Vehicle Teleoperation System

Abstract

In vehicle teleoperation, reducing instability of driving caused by communication delay is one of important technical problems. This study proposes a passivity-based vehicle teleoperation system that compensates for the delay of visual information presented to the driver. The proposed method applies wave variable transformation to steering angle and yaw rate, and presents modified yaw rate to the driver by altering the viewing direction of camera images. This effectively makes the driver feel that the vehicle responds to his/her steering operation without delay, and consequently over-steering is greatly reduced. The results of experiments using a driving simulator showed that the proposed method greatly improves lateral stability of driving.