Teleoperation enables remote human support of automated vehicles in scenarios where the automation is not able to find an appropriate solution. Remote assistance concepts, where operators provide discrete inputs to aid specific automation modules like planning, is gaining interest due to its reduced workload on the human remote operator and improved safety. However, these concepts are challenging to implement and maintain due to their deep integration and interaction with the automated driving system. In this paper, we propose a solution to facilitate the implementation of remote assistance concepts that intervene on planning level and extend the operational design domain of the vehicle at runtime. Using arbitration graphs, a modular decision-making framework, we integrate remote assistance into an existing automated driving system without modifying the original software components. Our simulative implementation demonstrates this approach in two use cases, allowing operators to adjust planner constraints and enable trajectory generation beyond nominal operational design domains.

翻译：遥操作技术能够在自动化系统无法找到合适解决方案的场景中，为自动驾驶车辆提供远程人工支持。远程辅助方案通过操作员向特定自动化模块（如规划模块）提供离散输入，因其能降低远程操作员工作负荷并提升安全性而日益受到关注。然而，由于此类方案需与自动驾驶系统深度集成并交互，其实现与维护面临巨大挑战。本文提出一种解决方案，旨在促进干预规划层级的远程辅助方案的实施，并在运行时扩展车辆的可运行设计域。通过采用模块化决策框架——仲裁图，我们将远程辅助功能集成至现有自动驾驶系统中，且无需修改原始软件组件。仿真实验通过两个用例验证了该方案的有效性，使操作员能够调整规划器约束条件，并生成超出标称可运行设计域的轨迹。