摘要：AbstractIn this paper, we propose a framework for the safe teleoperation of connected vehicles by remote human operators. The proposed framework combines model-checking, reachability analysis, and human factor design into a unified approach that checks the feasibility of linear temporal logic (LTL) specified teleoperation tasks, guarantees safety throughout the execution of the tasks, and keeps the remote operator as the primary decision maker in the control loop. We apply the general approach to a remote parking example to illustrate the framework. Then, to evaluate the framework’s benefits and usability, we conduct a user study on an experimental remote control operator’s room and a 1/10th scale vehicle. In the user study, we validate the approach’s ability to ensure the completion of LTL-specified tasks and gain initial insight into whether human users find the teleoperation system intuitive.
