The automotive industry aims to deploy commercial level-5 fully autonomous self-driving vehicles (FA-SDVs) in a diverse range of benefit-driven concepts on city roads in the years to come. In all future visions of operating networks of FA-SDVs, humans are expected to intervene with some kind of remote supervisory role. Recent advances in cyber-physical systems (CPS) within the concept of Internet of Everything (IoE) using tactile Internet (TI) teleport us to teleoperate remote objects within the cyber-world. Human-on-the-loop (HOTL) haptic teleoperation with an extension of human control and sensing capability by coupling with artificial sensors and actuators with an increased sense of real-time driving in the remote vehicle can help overcome the challenging tasks when the new driver — artificial intelligence (AI) agent — encounters an unorthodox situation that can’t be addressed by the autonomous capabilities. This paper analyses HOTL real-time haptic delay-sensitive teleoperation with FA-SDVs, in the aspects of human-vehicle teamwork by establishing two similar remote parallel worlds — real-world vehicle time-varying environment and cyber-world emulation of this environment, i.e., digital twins (DTs) — in which a human telesupervisor (HTS), as a biological agent, can be immersed with no cybersickness enabling omnipresence through a timely bidirectional flow of energy and information. The experiments conducted as a proof of concept of HOTL haptic teleoperation regarding learning with human-vehicle collaboration show promising results and the potential of benefiting from the proposed framework.

中文翻译：

---

城市环境中全自动驾驶车辆的人在环触觉远程操作的概念化


汽车行业的目标是未来几年在城市道路上以各种利益驱动概念部署商用 5 级全自动驾驶汽车 (FA-SDV)。在 FA-SDV 运营网络的所有未来愿景中，人类都应该以某种远程监管角色进行干预。在万物互联 (IoE) 概念下，网络物理系统 (CPS) 的最新进展使用触觉互联网 (TI) 传送我们来远程操作网络世界中的远程对象。人机在环（HOTL）触觉远程操作通过与人工传感器和执行器相结合，扩展了人类控制和传感能力，增强了远程车辆的实时驾驶感，有助于克服新环境下的挑战性任务。驾驶员——人工智能（AI）代理——遇到了自主能力无法解决的非正统情况。本文通过建立两个相似的远程平行世界——真实车辆时变环境和该环境的网络世界仿真，在人车团队合作方面分析了 FA-SDV 的 HOTL 实时触觉延迟敏感遥控操作，即数字孪生（DT）——人类远程监督员（HTS）作为生物代理，可以沉浸在其中，而不会晕机，通过及时的双向能量和信息流实现无所不在。作为关于人车协作学习的 HOTL 触觉远程操作概念证明而进行的实验显示了有希望的结果以及从所提出的框架中受益的潜力。