가상 운전 인터페이스를 활용한 자동차 협력 원격조종Shared Vehicle Teleoperation using a Virtual Driving Interface

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In direct vehicle teleoperation, a human operator drives a vehicle at a distance through a pair of master and slave device. However, if there is time delay, it is difficult to remotely drive the vehicle due to slow response. In order to address this problem, we introduced a novel methodology of shared vehicle teleoperation using a virtual driving interface. The methodology was developed with four components: 1) virtual driving environment, 2) interface for virtual driving environment, 3) path generator based on virtual driving trajectory, 4) path following controller. Experimental results showed the effectiveness of the proposed approach in simple and cluttered driving environment as well. In the experiments, we compared two sampling methods, fixed sampling time and user defined instant, and finally merged method showed best remote driving performance in term of completion time and number of collision.
Publisher
제어·로봇·시스템학회
Issue Date
2015-03
Language
Korean
Citation

제어.로봇.시스템학회 논문지, v.21, no.3, pp.243 - 249

ISSN
1976-5622
URI
http://hdl.handle.net/10203/280504
Appears in Collection
CE-Journal Papers(저널논문)
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