Granted Patent B2

US 12,578,720 · App. 18/073,607 · Granted Mar 17, 2026

Inventors: Thomas von der Ohe (Berlin, DE); Fabrizio Scelsi (Berlin, DE); Bogdan Djukic (Berlin, DE); Martin Scholl (Berlin, DE); Karsten Gordon (Berlin, DE); Norbert Bierhals (Berlin, DE)

Assignee: Vay Technology GmbH

G05D1/0022B60T7/12H04L67/12

Abstract

Claims (45)

1 . A method for controlling a teleoperated vehicle, comprising:

driving, by a teledriver operator, said vehicle via a teleoperator station using a network, the teledriver operator being located at the teleoperator station remote from the vehicle and directly driving the vehicle using commands issued through the network;

determining, by a control unit on the vehicle, a disturbance within said network, wherein the disturbance is determined based on detecting at least one of: a value for network latency, and an end-to-end latency, wherein the disturbance based on latency adversely affects the teledriver operator's ability to drive the vehicle via communications with the teleoperator station;

starting, by the control unit on the vehicle, a first braking maneuver for slowing down said vehicle, when a disturbance is determined within said network; and

starting, by the control unit on the vehicle, a second braking maneuver for stopping said vehicle, when a further predetermined condition regarding the disturbance within the network is met.

2 . The method for controlling a teleoperated vehicle of claim 1 , wherein said network is a cellular network and/or based on at least one of the following:

wireless communication; and

radio communication.

3 . The method for controlling a teleoperated vehicle of claim 1 , wherein said disturbance is at least one of the following:

network latency spike;

unexpected CPU and/or memory consumption; and

a software latency.

4 . The method for controlling a teleoperated vehicle of claim 1 , wherein the first braking maneuver is immediately started after a disturbance is determined.

5 . The method for controlling a teleoperated vehicle of claim 1 , wherein during said first braking maneuver, said vehicle is slowed down:

with an acceleration between −1.5 m/s 2 and −4 m/s 2 ;

until a wireless communication is recovered; or

until said vehicle has a speed of 0 m/s.

6 . The method for controlling a teleoperated vehicle of claim 1 , wherein said second braking maneuver is started if said network does not fully recover during the first braking maneuver and/or before a visually validated path is completed.

7 . The method for controlling a teleoperated vehicle of claim 1 , wherein during said second braking maneuver, said vehicle is stopped:

with an acceleration between −5.0 m/s 2 and −15.0 m/s 2 ; or

until said vehicle has a speed of 0 m/s.

8 . The method for controlling a teleoperated vehicle of claim 2 , wherein the method is performed for a shared mobility service, and:

wherein said disturbance is at least one of the following:

network latency spike;

unexpected CPU and/or memory consumption; and

a software latency;

wherein the first braking maneuver is immediately started after a disturbance is determined;

wherein during said first braking maneuver, said vehicle is slowed down:

with an acceleration between −1.5 m/s 2 and −4 m/s 2 ;

until said wireless communication is recovered; or

until said vehicle has a speed of 0 m/s;

wherein said second braking maneuver is immediately started if said network does not fully recover during the first braking maneuver and/or before a visually validated path is completed; and

wherein during said second braking maneuver, said vehicle is stopped:

with an acceleration between −5.0 m/s 2 and −15.0 m/s 2 ; or

until said vehicle has a speed of 0 m/s.

9 . A computer readable medium carrying a computer program product, comprising program code configured to perform the steps of claim 1 when said program product is run on a computer.

10 . A teleoperated vehicle, comprising a control device that comprises:

a computer, and

at least one of:

the computer readable medium of claim 9 , and

the control unit configured to perform the steps of the method of claim 1 .

11 . The teleoperated vehicle of claim 10 , further comprising:

at least one sensor for collecting video and/or audio data of at least one side of said vehicle;

a communication device for sending said video and/or audio data to a teleoperator station; and

a communication device for receiving control commands of said teleoperator station.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (11)