The Autoware Foundation
Proposal for Autoware Universe Teleoperation System #2742
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This is a safety-critical feature. What commands do you want to send to the vehicle remotely? Direct control would be very unsafe due to network problems. |
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TIER IV has developed a service called AutowareDrive which has the function that is proposed here. I think we also have some further requirements and know-hows from internally (e.g., including the latency requirements investigation and dealing with network problems), but I don't think we have something that we can share publicly at the moment. |
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@markacrawfordjr : FYI |
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These documentation might relate to your proposal. At least we have some API commands that we are planning to integrate to support selection of different control sources. |
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@BonoloAWF @mitsudome-r @markacrawfordjr : Hi Team, As discussed in the last meeting High level Architecture for proposed Teleoperation system is added now and also phase wise implementation proposals for achieving final teleoperation goal is also updated |
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cc (software architects): @xmfcx @angry-crab |
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Here are the links that you might find useful for doing remote monitoring and remote control for autoware: |
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Autoware Universe Teleoperation System
Overview
We would like to gauge the interest of the Autoware developer community in developing a teleoperation feature (Monitoring and controlling vehicles through remote driver) that can be used for development and testing. The feature could be developed in phases w.r.t ODD (Operational Design Domain)
Phase1: Remote monitoring
In this phase the focus is to perform real-time streaming of sensor data from the ego vehicle to a remote location.
ODD: Sidewalks, Pedestrian areas, Bike lanes, Urban/Highway driving, Off-road driving...
Phase2: Low speed Teleoperation
In this phase along with Remote monitoring, Teleoperation system issues motion control commands using a joystick/controller to control ego vehicles. The speed of the vehicle should be low and this is a less safety critical application.
ODD: Sidewalks, Pedestrian areas, Bike lanes...
Phase3: Moderate/High speed ON road Teleoperation
In this phase along with Remote monitoring and Low speed Teleoperation, Teleoperation system issues motion control commands using a joystick/controller to control ON road ego vehicles at moderate/high speeds and this is high safety critical application.
ODD: Urban/Highway driving, Off-road driving...
Phase 1: Remote monitoring Architecture proposal
Our initial focus in phase1 is to develop a remote monitoring system I.e real-time streaming of sensor data from the ego vehicle to a remote location
Technical Approach
Gstreamer combined with WebRTC can be used to stream video and audio from the ego vehicle to a remote location. The effort in this proposal will primarily focus on the software required to execute on the vehicle. However, a basic backend remote monitoring application will be created to support testing and development. This backend software will be web-based and will allow an operator to visualize the streaming video from the ego vehicle
Next Steps
We would like to obtain requirements from the community for this teleoperation system and to discuss alternatives to our technical approach.
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