In recent years, advanced driver assistance systems (ADASs) have been used to improve the safety of vehicles by either providing additional information to the driver or by taking over complete control. The majority of ADASs currently being utilised run entirely on the vehicle, only having access to information provided by the sensors that are onboard the vehicle itself. Part of the next step in the evolution of ADAS is to incorporate information from other offsite sensors or obtain control inputs from infrastructure which can coordinate multiple vehicles simultaneously via a wireless interface. Wireless communication is inherently delayed and prone to dropped packets. This study looks at the effect of transport latencies and dropped packets on an off-site autoregressive steering controller supplying direct steering inputs to a vehicle. A fully non-linear vehicle simulation model is used to test the effect of delaying steering inputs and dropped packets to test the stability of the controller. The study shows that at dropped packet percentages of up to 40% adequate vehicle control is maintained, while transport latencies of up to 100 ms allow for moderately accurate vehicle control.

中文翻译：

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使用异地转向控制器的无线通信传输延迟和包裹掉落对车辆稳定性的影响

近年来，先进的驾驶员辅助系统（ADAS）已用于通过向驾驶员提供附加信息或接管完全控制来提高车辆的安全性。当前使用的大多数ADAS完全在车辆上运行，只能访问由车辆自身车载传感器提供的信息。ADAS下一步发展的部分步骤是整合来自其他异地传感器的信息，或者从基础设施获取控制输入，这些基础设施可以通过无线接口同时协调多辆车辆。无线通信固有地被延迟并且易于丢失分组。这项研究着眼于运输延迟和丢包对异地自回归转向控制器的影响，该控制器为车辆提供直接转向输入。完全非线性的车辆仿真模型用于测试延迟转向输入和丢包的效果，以测试控制器的稳定性。研究表明，在丢包率高达40％的情况下，可以保持足够的车辆控制，而高达100 ms的传输延迟则可以实现中等精确的车辆控制。