Vehicle teleoperation has numerous potential applications, including serving as a backup solution for autonomous vehicles, facilitating remote delivery services, and enabling hazardous remote operations. However, complex urban scenarios, limited situational awareness, and network delay increase the cognitive workload of human operators and degrade teleoperation performance. To address this, the successive reference pose tracking (SRPT) approach was introduced in earlier work, which transmits successive reference poses to the remote vehicle instead of steering commands. The operator generates reference poses online with the help of a joystick steering and an augmented display, potentially mitigating the detrimental effects of delays. However, it is not clear which minimal set of sensors is essential for the SRPT vehicle teleoperation control loop. This paper tests the robustness of the SRPT approach in the presence of state estimation inaccuracies, environmental disturbances, and measurement noises. The simulation environment, implemented in Simulink, features a 14-dof vehicle model and incorporates difficult maneuvers such as tight corners, double-lane changes, and slalom. Environmental disturbances include low adhesion track regions and strong cross-wind gusts. The results demonstrate that the SRPT approach, using either estimated or actual states, performs similarly under various worst-case scenarios, even without a position sensor requirement. Additionally, the designed state estimator ensures sufficient performance with just an inertial measurement unit, wheel speed encoder, and steer encoder, constituting a minimal set of essential sensors for the SRPT vehicle teleoperation control loop.

翻译：车辆远程运营具有众多潜在应用场景，包括作为自动驾驶车辆的备份方案、支持远程配送服务以及实现危险环境远程操作。然而，复杂的城市路况、有限的环境感知能力以及网络延迟会增加操作员的认知负荷，降低远程操作性能。为此，前期研究引入了连续参考位姿跟踪（SRPT）方法，该方法通过向远程车辆传输连续参考位姿而非转向指令。操作员借助操纵杆转向和增强显示在线生成参考位姿，可有效缓解延迟带来的负面影响。但SRPT车辆远程操作控制回路所需的最优传感器配置尚不明确。本文测试了SRPT方法在状态估计误差、环境扰动和测量噪声影响下的鲁棒性。基于Simulink搭建的仿真环境采用14自由度车辆模型，并包含急弯、双车道变换和蛇形穿桩等复杂工况。环境扰动包括低附着系数路面和强侧风阵风。结果表明，即使无需位置传感器，SRPT方法在使用估计状态或实际状态时，在多种最恶劣工况下仍能保持相似性能。此外，所设计的状态估计器仅需惯性测量单元、轮速编码器和转向编码器即可保证足够性能，这构成了SRPT车辆远程操作控制回路的最小传感器配置。