Automated vehicles (AVs) have been developing at a rapid pace over the past few years. However, many difficulties still remain for achieving full Level-5 AVs. This signifies that AVs still require human operators to intervene or assist, such as taking over control of AVs or selecting their routes. Therefore, teleoperation can be seen as a subsystem of AVs that can remotely control and supervise a vehicle when needed. However, teleoperated driving conditions are largely different from real-life driving, so remote drivers may experience different driving feedback. In such a situation, therefore, the driving behaviour and performance of remote drivers can also be impacted. The following three studies were conducted to investigate these points. First, a seamless comparative study was carried out between teleoperated and real-life driving. Driving behaviour and performance were compared in two scenarios: slalom and lane following. Significant differences in driving behaviour and performance between them were found in the study. The lane following deviation during teleoperated driving is much greater than that of real-life driving. In addition, remote drivers are more likely to drive slower and make more steering corrections in lane following manoeuvres. Second, three types of steering force feedback (SFF) modes were compared separately in both teleoperated and real-life driving to investigate the effect of SFF on driving experience. The three SFF modes consist of Physical model-based steering force Feedback (PsF), Modular model-based steering force Feedback (MsF), and No steering force Feedback (NsF). The difference between PsF and MsF is that the main forces come from different sources, namely the estimated tyre force and steering motor current, respectively. As expected, the experimental results indicate that NsF would significantly reduce the driving experience in both driving conditions. In addition, remote drivers were found to require reduced steering feedback force and returnability. Finally, the influence of ...
Teleoperation and the influence of driving feedback on drivers’ behaviour and experience
2023-01-01
Theses
Electronic Resource
English
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