Delay Compensation Through Dynamic Behavior Estimation of an Automated Vehicle in view of its Remote Teleoperation

The remote control of automated vehicles introduces various challenges, with communication latency being a prominent concern. The mitigation of this latency is crucial for ensuring safe and effective mobility. Within this context, this paper aims to address the impact of communication latency by introducing the Vehicle Dynamics Estimator (VDE). This approach is designed to enhance the accuracy of vehicle trajectory estimation and contribute to the overall improvement of remote control systems for automated vehicles. To validate the effectiveness of the proposed approach, comprehensive simulations have been conducted. The results of these simulations demonstrate the successful enhancement of vehicle trajectory estimation through the application of the VDE.