Prediction Methods for Teleoperated Road Vehicles

This paper presents three prediction methods to mitigate the negative effects of time delays in the teleoperation of road vehicles using a predictive display: I) Clothoid Prediction assumes that the vehicle will continue moving on a clothoidal path; II) Full Prediction predicts the movement starting from the current vehicle position using a single track model; III) Continuous Prediction also uses a single track model, but starts calculation from the last predicted state. While Clothoid Prediction is not sufficiently accurate, both Full Prediction and Clothoid Prediction offer the same accuracy of less than 10 cm lateral deviation. Although Full Prediction is 20 times slower than Continuous Prediction, it is still about 400 times faster than real time. Since Continuous Prediction requires a very accurate positioning system for correction and Full Prediction only requires the vehicle’s yaw rate as input signal, the latter is the most suitable prediction method.