US-12619249-B2 - Systems and methods for selecting a teleoperation control center for a teleoperated driving session

Abstract

Systems, methods, and other embodiments described herein relate to selecting a teleoperation control center for a requested teleoperation driving session based on characteristics of the requested teleoperated driving session and a type of control for the session. In one embodiment, a method includes identifying 1) a type of control for a requested teleoperated driving session and 2) a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the type of control. The method also includes identifying control capabilities of different teleoperation control centers. The method also includes transmitting control of a requesting vehicle to a target teleoperation control center of the different teleoperation control centers based on 1) the computational parameter, 2) the type of control, and 3) the control capabilities of the different teleoperation control centers.

Inventors

• Xunbi Ji
• Sergei S. Avedisov
• Mohammad Irfan Khan
• Onur Altintas

Assignees

• TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.

Dates

Publication Date

20260505

Application Date

20231211

Claims (20)

1. 1 . A system, comprising: a processor; and a memory storing machine-readable instructions that, when executed by the processor, cause the processor to: identify: a control format for a requested teleoperated driving session; and a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the control format; identify control capabilities of different teleoperation control centers; and transmit control of a requesting vehicle to a target teleoperation control center of the different teleoperation control centers based on the computational parameter, the control format, and the control capabilities of the different teleoperation control centers.
2. 2 . The system of claim 1 , wherein the machine-readable instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session based on the session characteristic comprises a machine-readable instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session based on at least one of a maneuver characteristic, a vehicle characteristic, or an environment characteristic.
3. 3 . The system of claim 1 , wherein: the machine-readable instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session comprises a machine-readable instruction that, when executed by the processor, causes the processor to identify at least one of a network parameter or a remote operation parameter; and the machine-readable instruction that, when executed by the processor, causes the processor to identify the control capabilities of the different teleoperation control centers comprises a machine-readable instruction that, when executed by the processor, causes the processor to identify at least one of a network characteristic or a remote operation characteristic of the different teleoperation control centers.
4. 4 . The system of claim 1 , wherein the machine-readable instruction that, when executed by the processor, causes the processor to identify the control format for the requested teleoperated driving session comprises a machine-readable instruction that, when executed by the processor, causes the processor to identify the control format as a trajectory control or a direct vehicle system control.
5. 5 . The system of claim 1 , wherein the machine-readable instructions further comprise machine-readable instructions that, when executed by the processor, cause the processor to: sequentially transmit a control request to the different teleoperation control centers; and select as the target teleoperation control center, a teleoperation control center that indicates control capability alignment with the computational parameter.
6. 6 . The system of claim 1 , wherein the machine-readable instructions further comprise machine-readable instructions that, when executed by the processor, cause the processor to: compare the control capabilities of the different teleoperation control centers with the computational parameter; and select as the target teleoperation control center, a teleoperation control center with control capability that aligns with the computational parameter.
7. 7 . The system of claim 1 , wherein the machine-readable instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session comprises a machine-readable instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session based on at least one of: simulations of the requested teleoperated driving session, each simulation having different candidate computational parameters; or historical computational parameters from historical teleoperated driving sessions that have a same session characteristic as the session characteristic of the requested teleoperated driving session.
8. 8 . The system of claim 1 , wherein the machine-readable instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session based on the session characteristic comprises a machine-readable instruction that, when executed by the processor, causes the processor to identify a threshold latency for the requested teleoperated session based on the session characteristics and the control format.
9. 9 . A non-transitory machine-readable medium comprising instructions that, when executed by a processor, cause the processor to: identify: a control format for a requested teleoperated driving session; and a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the control format; identify control capabilities of different teleoperation control centers; and transmit control of a requesting vehicle to a target teleoperation control center of the different teleoperation control centers based on the computational parameter, the control format, and the control capabilities of the different teleoperation control centers.
10. 10 . The non-transitory machine-readable medium of claim 9 , wherein the instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session based on the session characteristic comprises an instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session based on at least one of a maneuver characteristic, a vehicle characteristic, or an environment characteristic.
11. 11 . The non-transitory machine-readable medium of claim 9 , wherein: the instruction that, when executed by the processor, causes the processor to identify the computational parameter for the requested teleoperated driving session comprises an instruction that, when executed by the processor, causes the processor to identify at least one of a network parameter or a remote operation parameter; and the instruction that, when executed by the processor, causes the processor to identify control capabilities of the different teleoperation control centers comprises an instruction that, when executed by the processor, causes the processor to identify at least one of a network characteristic or a remote operation characteristic of the different teleoperation control centers.
12. 12 . The non-transitory machine-readable medium of claim 9 , wherein the instruction that, when executed by the processor, causes the processor to identify the control format for the requested teleoperated driving session comprises an instruction that, when executed by the processor, causes the processor to identify the control format as a trajectory control or a direct vehicle system control.
13. 13 . The non-transitory machine-readable medium of claim 9 , wherein the non-transitory machine-readable medium further comprises instructions that, when executed by the processor, cause the processor to: sequentially transmit a control request to the different teleoperation control centers; and select as the target teleoperation control center, a teleoperation control center that indicates control capability alignment with the computational parameter.
14. 14 . The non-transitory machine-readable medium of claim 9 , wherein the non-transitory machine-readable medium further comprises instructions that, when executed by the processor, cause the processor to: compare the control capabilities of the different teleoperation control centers with the computational parameter; and select as the target teleoperation control center, a teleoperation control center with control capability that aligns with the computational parameter.
15. 15 . A method, comprising: identifying: a control format for a requested teleoperated driving session; and a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the control format; identifying control capabilities of different teleoperation control centers; and transmitting control of a requesting vehicle to a target teleoperation control center of the different teleoperation control centers based on the computational parameter, the control format, and the control capabilities of the different teleoperation control centers.
16. 16 . The method of claim 15 , wherein identifying the computational parameter for the requested teleoperated driving session based on the session characteristic comprises identifying the computational parameter for the requested teleoperated driving session based on at least one of a maneuver characteristic, a vehicle characteristic, or an environment characteristic.
17. 17 . The method of claim 15 , wherein: identifying the computational parameter for the requested teleoperated driving session comprises identifying at least one of a network parameter or a remote operation parameter; and identifying control capabilities of the different teleoperation control centers comprises identifying at least one of a network characteristic or a remote operation characteristic of the different teleoperation control centers.
18. 18 . The method of claim 15 , wherein identifying the control format for the requested teleoperated driving session comprises identifying the control format as a trajectory control or a direct vehicle system control.
19. 19 . The method of claim 15 , further comprising: sequentially transmitting a control request to the different teleoperation control centers; and selecting as the target teleoperation control center, a teleoperation control center that indicates control capability alignment with the computational parameter.
20. 20 . The method of claim 15 , wherein identifying the computational parameter for the requested teleoperated driving session comprises identifying the computational parameter for the requested teleoperated driving session based on at least one of: simulation of the requested teleoperated driving session, each simulation having different candidate computational parameters; or historical computational parameters from historical teleoperated driving sessions that have a same session characteristic as the session characteristic of the requested teleoperated driving session.

Description

TECHNICAL FIELD The subject matter described herein relates, in general, to the teleoperated driving of a vehicle and, more particularly, to selecting a teleoperation provider based on characteristics of a requested teleoperated driving session as well as a determined type of control for the requested teleoperated driving session. BACKGROUND Teleoperated driving allows a remote operator, which may be a human operator or an autonomous control system, to control the motion of an autonomous or semi-autonomous requesting vehicle without physically being in the requesting vehicle. To accomplish this task, the requesting vehicle that is being remotely driven transmits sensor information such as camera images, LiDAR data, radar data and other environment sensor outputs to the remote operator. The remote operator, whether a human operator or an electronic device-based autonomous control system, processes the sensor information and generates vehicle control commands. The vehicle control commands may be trajectory commands indicating a path for the requesting vehicle to follow for a certain amount of time or commands that directly manipulate the different vehicle systems (e.g., acceleration system, brake system, or steering system) of the requesting vehicle. In the latter case, a human operator workstation may include physical components of the vehicle such as a steering wheel, brake pedal, accelerator pedal, and others. Via activation of these workstation components, the human operator may prescribe vehicle control commands transmitted to and executed by the teleoperated vehicle. In either case (e.g., trajectory command or direct vehicle system commands), transmission of the vehicle sensor information is referred to as an uplink, and transmission of the vehicle commands is referred to as the downlink. The uplink and downlink may be facilitated via wireless communication between the remote operator workstation and the requesting vehicle. SUMMARY In one embodiment, example systems and methods relate to a manner of improving remote teleoperation of a requesting vehicle. In one embodiment, a teleoperation selection system for selecting a teleoperation provider based on the characteristics of a teleoperated driving session and a determined type of control for the teleoperated driving session is disclosed. The teleoperation selection system includes one or more processors and a memory communicably coupled to the one or more processors. The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to identify 1) a type of control for the requested teleoperated driving session and 2) a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the type of control. The memory also stores instructions that, when executed by the one or more processors, cause the one or more processors to identify control capabilities of different teleoperation control centers and transmit control of a requesting vehicle to a target teleoperation control center of the different teleoperation control centers based on the computational parameter, the type of control, and the control capabilities of the different teleoperation control centers. In one embodiment, a non-transitory computer-readable medium for selecting a teleoperation provider based on characteristics of a requested teleoperated driving session as well as a determined type of control for the requested teleoperated driving session and including instructions that, when executed by one or more processors, cause the one or more processors to perform one or more functions is disclosed. The instructions include instructions to identify 1) a type of control for the requested teleoperated driving session and 2) a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the type of control. The instructions also include instructions to identify the control capabilities of different teleoperation control centers. The instructions also include instructions to transmit control of a requesting vehicle to a target teleoperation control center of the different teleoperation control centers based on the computational parameter, the type of control, and the control capabilities of the different teleoperation control centers. In one embodiment, a method for selecting a teleoperation provider based on the characteristics of a requested teleoperated driving session and a determined type of control for the requested teleoperated driving session is disclosed. In one embodiment, the method includes identifying 1) a type of control for the requested teleoperated driving session and 2) a computational parameter for the requested teleoperated driving session based on a session characteristic for the requested teleoperated driving session and the type of control. T