Systems and methods for controlling a vehicle by teleoperation based on a speed limiter
This disclosure provides systems and methods for controlling a vehicle by teleoperation based on a speed limiter. The method may include: receiving, at the autonomous vehicle, a teleoperation input from a teleoperation system, wherein the teleoperation input comprises a throttle control input for remotely controlling a speed of the autonomous vehicle; determining the speed of the autonomous vehicle; determining if the speed of the autonomous vehicle has reached a threshold speed below a speed limit; and upon determining that the speed of the autonomous vehicle has reached the threshold speed, reducing effect of the throttle control input from the teleoperation system such that an acceleration rate of the speed of the autonomous vehicle is reduced.
1 . A method of controlling an autonomous vehicle, comprising:
receiving, at the autonomous vehicle, a teleoperation input from a teleoperation system, wherein the teleoperation input comprises a throttle control input for remotely controlling the autonomous vehicle, and wherein the throttle control input includes a throttle level requested by a teleoperator; and
using a processor:
determining the speed of the autonomous vehicle;
determining if the speed of the autonomous vehicle has reached a threshold speed below a speed limit; and
upon determining that the speed of the autonomous vehicle has reached the threshold speed, regulating a throttle level of an engine for reducing effect of the throttle control input from the teleoperation system by:
determining a suitable throttle level as a function of the throttle level associated with the throttle control input, wherein the suitable throttle level is different than the threshold speed and different than the throttle level of the teleoperation input; and
generating a throttle control request including the suitable throttle level;
wherein reducing the effect of the throttle control input from the teleoperation system is independent of cruise control.
2 . The method of claim 1 , comprising determining the speed of the autonomous vehicle by a speedometer.
3 . The method of claim 1 , wherein the autonomous vehicle has a failed inertial measurement unit (IMU).
4 . The method of claim 1 , wherein the threshold speed is a speed that is 5 mph to 10 mph below the speed limit.
5 . The method of claim 1 , wherein the speed limit is from 30 mph to 40 mph.
6 . The method of claim 1 , wherein the teleoperation input is entered by a teleoperator through the remote teleoperation system.
7 . The method of claim 6 , wherein the teleoperation input is entered by the teleoperator through a throttle control pedal.
8 . The method of claim 1 , wherein the step of receiving the teleoperation input is in response to a teleoperation event.
9 . The method of claim 1 , wherein the teleoperation input comprises a brake pedal input or an engine brake input.
10 . A system for controlling an autonomous vehicle, comprising:
a teleoperation receiver, configured to receive a teleoperation input from a remote teleoperation system, wherein the teleoperation input comprises a throttle control input for remotely controlling the autonomous vehicle; and
a processor, configured to:
determine the speed of the autonomous vehicle;
determine if the speed of the autonomous vehicle has reached a threshold speed below a speed limit; and
upon determining that the speed of the autonomous vehicle has reached the threshold speed, regulating a throttle level of an engine to reduce effect of the throttle control input from the remote teleoperation system, by:
determining a suitable throttle level as a function of the throttle level associated with the throttle control input, wherein the suitable throttle level is different than the threshold speed and different than the throttle level of the teleoperation input; and
generating a throttle control request including the suitable throttle level;
wherein reducing the effect of the throttle control input from the teleoperation system is independent of cruise control.
11 . The system of claim 10 , wherein the processor is configured to determine the speed of the autonomous vehicle by a speedometer.
12 . The system of claim 10 , wherein the autonomous vehicle has a failed inertial measurement unit (IMU).
13 . The system of claim 10 , wherein the threshold speed is a speed that is 5 mph to 10 mph below the speed limit.
14 . The system of claim 10 , wherein the speed limit is from 30 mph to 40 mph.
15 . The system of claim 10 , wherein the teleoperation input is entered by a teleoperator through the remote teleoperation system.
16 . The system of claim 15 , wherein the teleoperation input is entered by the teleoperator through a throttle control pedal.
17 . The system of claim 10 , wherein the step of receiving the teleoperation input is in response to a teleoperation event.
18 . The system of claim 10 , wherein the teleoperation input comprises a brake pedal input or an engine brake input.