开源远程操控系统，支持车辆实时驾驶与辅助操作。
TUM Teleoperation: Open Source Software for Remote Driving and Assistance of Automated Vehicles
- 模块化设计，可对接Autoware等自动驾驶软件
- 实测不同平台延迟性能，适配仿真与真实车辆
- 支持人机交互灵活定制，适合科研测试与协作开发
远程操控是未来出行的关键技术，可在自动化车辆无法处理的罕见复杂场景中提供支持。尽管研究持续进行，目前尚无开源软件能同时实现通过方向盘和踏板的远程驾驶、通过高层交互对自动驾驶模块进行远程协助，并集成到真实车辆中开展实际测试。为填补这一空白，我们提出一个模块化、开源的远程操控软件栈，可与自动驾驶软件（如Autoware）交互，实现远程协助与远程驾驶。该软件采用标准化接口，支持与多种真实世界及仿真平台无缝集成，同时允许灵活设计人机交互界面。系统具备高可扩展性，可作为各组件协同开发的基础，适用于真实测试与用户研究。为验证其适用性，我们在仿真和真实车辆平台上评估了不同平台的延迟与性能表现。源代码已发布于GitHub。
原文摘要 · Abstract (English)
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote Driving, e.g., via steering wheel and pedals, Remote Assistance through high-level interaction with automated driving software modules, and integration with a real-world vehicle for practical testing. To address this gap, we present a modular, open source teleoperation software stack that can interact with an automated driving software, e.g., Autoware, enabling Remote Assistance and Remote Driving. The software featuresstandardized interfaces for seamless integration with various real-world and simulation platforms, while allowing for flexible design of the human-machine interface. The system is designed for modularity and ease of extension, serving as a foundation for collaborative development on individual software components as well as realistic testing and user studies. To demonstrate the applicability of our software, we evaluated the latency and performance of different vehicle platforms in simulation and real-world. The source code is available on GitHub
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