Basic approaches in designing remote control systems when prototyping autonomous vehicles

DOI: https://doi.org/10.30686/1609-9192-2023-S2-114-117
Читать на русскоя языкеS.A. Kizilov, M.S. Nikitenko, D.Yu. Khudonogov, Ya.V. Popinako, D.O. Verkhovtsev
Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation
Russian Mining Industry №S2 / 2023 р. 114-117

Abstract: The article presents the results of a reviewing works by foreign and Russian researchers dedicated to remote control of autonomous vehicles. It discusses the conditions that make the use of remote control necessary, and presents two main types of remote control, i.e. manual control and decision making assistance by the autonomous driving system. The key components of a remote control system are identified. The main requirements for each of the elements are briefly described, as well as the methods used to implement them. Composition of the components and basic requirements to the remote control system have been defined for a prototype of an autonomous vehicle.

Keywords: autonomous vehicle, control system, telecontrol, remote control, remote control unit, video image, telemetry, assistive telecontrol

Acknowledgments: The research was performed within the framework of the Integrated Scientific and Technical Program approved by the Order of the Government of the Russian Federation No.1144-r as of 11.05.2022 under the 'Development of a control system for autonomous vehicles based on projected travel path' project (Agreement No.075-15-2022-1199 as of 28.09.2022).

For citation: Kizilov S.A., Nikitenko M.S., Khudonogov D.Yu., Popinako Ya.V., Verkhovtsev D.O. Basic approaches in designing remote control systems when prototyping autonomous vehicles. Russian Mining Industry. 2023;(S2):114–117. https://doi.org/10.30686/1609-9192-2023-S2-114-117

Article info

Received: 09.08.2023

Revised: 04.09.2023

Accepted: 05.09.2023

Information about the authors

Sergey A. Kizilov – Scientific fellow, Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Mikhail S. Nikitenko – Cand. Sci. (Eng.), Head of laboratory, Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Danila Yu. Khudonogov – Scientific Researcher, Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Yaroslav V. Popinako – Engineer, Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Daniil O. Verkhovtsev – Junior Scientific Fellow, Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

References

1. Writer S. Global autonomous mining truck population tops thousand mark, to reach 1,800 by 2025 – report. May 18, 2022. Available at: https://www.mining.com/global-autonomous-mining-truck-population-tops-thousand-mark-to-reach-1800-by-2025-report/

2. Nikitenko M.S., Kizilov S.A., Khudonogov D.Yu. Analysis of approaches to autonomous vehicle control. Modern High Technologies. 2022;(12-2):278–283. (In Russ.) Available at: https://top-technologies.ru/ru/article/view?id=39472

3. Hamada T., Saito S. Autonomous Haulage System for Mining Rationalization. Hitachi review. 2018;67(1):86–87. Available at: https:// www.hitachi.com/rev/archive/2018/r2018_01/10a07/index.html

4. Mutzenich C. Situation Awareness of Remote Vehicle Operators: PhD thesis. Royal Holloway, London; 2022.

5. Biletska O., Kurtz G., Zadek H., Kersten W., Jahn C., Blecker T., Ringle C.M. Operation control center for automated vehicles: Conceptual design. Proceedings of the Hamburg International Conference of Logistics (HICL). 2022;33:731–752. https://doi.org/10.15480/882.4702

6. Endsley M.R., Kiris E.O. The out-of-the-loop performance problem and level of control in automation. Human Factors. 1995;37(2):381– 394. https://doi.org/10.1518/001872095779064555

7. Underwood S. Connected, and Electric Vehicle Systems for Sustainable Transportation. Technical report. University of Michigan; 2014. Available at: https://press.umich.edu/Series/T/Technical-Reports

8. Lalli M. Autonomes Fahren Und Die Zukunft Der Mobilität. 2nd ed. Heidelberg: sociotrend; 2019. 120 p. https://doi.org/10.1007/978-3-662-61812-7

9. Sherafatian A. Teleoperation of remote controlled toy cars in VR, PhD thesis. University of Tartu Institute of Computer Science Computer Science Curriculum, Tartu; 2022.

10. Kuzmin I.V. Design of telemechanical control and management systems. Kharkov; 1967. 75 p. (In Russ.)

11. Moniruzzaman M., Rassau A., Chai D., Islam S.M.S. Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey. Robotics and Autonomous Systems. 2012;150:103973. https://doi.org/10.1016/j.robot.2021.103973

12. Kugurakova V.V., Khafizov M.R., Kadyrov S.A., Zykov E.Yu. Remote control of a robotic device using virtual reality. Software & Systems. 2022;(3):348–361. (In Russ.) https://doi.org/10.15827/0236-235X.139.348-361

13. Small N. Assigned responsibility: An architecture for mixed control robot teleoperation, PhD thesis. Murdoch University, Perth; 2016.

14. Bout M. A Head-mounted display to support remote operators of shared automated vehicles, PhD thesis. KTH Royal Institute of Technology, Stockholm; 2017.

15. Majstorovic D., Hoffmann S., Pfab F., Schimpe A., Wolf M.-M., Diermeyer F. Survey on teleoperation concepts for automated vehicles. In: Conference: 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC). Cornell University, 2022. https://doi.org/10.48550/arXiv.2208.08876

16. Ellis S., Mania K., Adelstein B. Generalizeability of Latency Detection in a Variety of Virtual Environments. Sage Journals Home. 2004;48(23):2632–2636. https://doi.org/10.1177/154193120404802306

17. MacKenzie I.S., Ware C. Lag as a determinant of human performance in interactive systems. In: Human-Computer Interaction, INTERACT’93, IFIP TC13 International Conference on Human-Computer Interaction. Amsterdam, Netherlands, 24–29 April, 1993, pp. 488–493. https://doi.org/10.1145/169059.169431

18. Storms J. Modeling and Improving Teleoperation Performance of Semi-Autonomous Wheeled Robots, PhD thesis. University of Michigan, Michigan; 2017.

19. Bodtl O. Teleoperation of autonomous vehicle with 360° camera feedback, PhD thesis. Chalmers University of Technology, Gothenburg; 2016.