Mitigating delay and poor transparency in ground vehicle teleoperation based on the predicted trajectory guidance control framework.

Teleoperated ground vehicles play pivotal roles in various domains, yet suffer from communication delays and poor transparency. Delays and poor transparency in teleoperations hinder operators' perception of environmental changes and steering corrections, leading to unstable teleoperation. In this study, by framing the limited transparency issue as a trajectory-tracking problem, the eye-movement-based predicted trajectory guidance control (ePTGC) framework, primarily designed for delay compensation, is extended to address the low transparency issue. A Preview-LPV trajectory-tracking controller is designed and incorporated into the ePTGC framework to ensure accurate and robust trajectory tracking. Human-in-the-loop teleoperation simulation experiments demonstrate that the improved ePTGC framework significantly mitigates the adverse effects of delays and poor transparency on efficiency, maneuverability, and the operator's cognitive burden under varying road adhesion and high delay levels.