Authority transfer According to Driver Intervention Intention Considering Coexistence of Communication Delay

With the development of autonomous driving technology, research and development have been conducted on safety-related functions to assist autonomous driving. Despite hardware safety-integrity levels being sufficiently considered in self-driving safety, issues of potential collisions originating from software’s ambiguity ous remain due to unexpected system errors. The errors must be diminished to acceptable risk levels. To compensate for this, vehicle monitoring and remote control technologies were proposed for autonomous vehicles. Unpredictable communication delays between autonomous vehicles and the control center cause potential hazards. Thus, we presented case studies and authority transfer methods considering communication delays. The effect of delayed control of vehicle teleoperation was also explored with communication delay. The result showed that the proposed method compensated for communication delay in remote authority transfer and increased the driver’s intervention.