A Delay Compensation Framework Based on Eye-Movement for Teleoperated Ground Vehicles

An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for the performance degradation of a ground vehicle teleoperation system. The proposed framework extracts human intention from eye-movement and combines it with contextual constraints to generate an intention-compliant guidance trajectory, which is then employed to control the vehicle directly. Using eye-movement contributes to more accurate steering intention and trajectory prediction, which is critical for trajectory guidance control. A human-in-loop simulation platform is designed to evaluate the teleoperation performance of the proposed method at different delay levels. The results are analyzed by repeated measures ANOVA, which shows that the proposed method significantly improves maneuverability and cognitive burden at large delay levels (>200ms). The overall performance is also much better than the PTGC which does not employ the eye-movement feature.