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Connected and Autonomous Vehicles (CAVs) continue to evolve rapidly, and system latency remains one of their most critical performance parameters, particularly when vehicles are operated remotely. Existing latency-assessment methodologies…
Teleoperation promises to extend the operational envelope of automated vehicles, yet it critically depends on network latency and video quality. We report a fixed-base driving-simulator study (N=25) with a 2x2 manipulation of added latency…
Teleoperation is increasingly being adopted as a critical fallback for autonomous vehicles. However, the impact of network latency on vision-based, perception-driven control remains insufficiently studied. The present work investigates the…
Robot teleoperation with extended reality (XR teleoperation) enables intuitive interaction by allowing remote robots to mimic user motions with real-time 3D feedback. However, existing systems face significant motion-to-motion (M2M)…
Teleoperated driving enables remote human intervention in autonomous vehicles, addressing challenges in complex driving environments. However, its effectiveness depends on ultra-low latency, high-reliability communication. This paper…
Low delay video transmission is becoming increasingly important. Delay critical, video enabled applications range from teleoperation scenarios such as controlling drones or telesurgery to autonomous control through computer vision…
The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular…
This paper presents an open-source software application for analyzing traffic camera footage, focusing on vehicle behavior and braking events at signalized urban highways. The core innovation is a robust ground-plane homography estimation…
The coordination of vehicles is a crucial element of autonomous driving, as it enhances the efficiency, convenience, and safety of road traffic. In order to fully exploit the capabilities of such coordination, communication with high data…
Distributed Virtual Reality systems enable globally dispersed users to interact with each other in a shared virtual environment. In such systems, different types of latencies occur. For a good VR experience, they need to be controlled. The…
Mobile edge computing (MEC) and millimeter wave (mmWave) communications are capable of significantly reducing the network's delay and enhancing its capacity. In this paper we investigate a mmWave and device-to-device (D2D) assisted MEC…
With the emergence of autonomous driving and 5G mobile communication systems, how to design vehicular networks to meet the requirements of ultra-reliable low-latency communication (URLLC) between autonomous vehicles is widely concerned by…
This study introduces the Perception Latency Mitigation Network (PLM-Net), a modular deep learning framework designed to mitigate perception latency in vision-based imitation-learning lane-keeping systems. Perception latency, defined as the…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
5G millimeter wave (mmWave) technology is envisioned to be an integral part of next-generation vehicle-to-everything (V2X) networks and autonomous vehicles due to its broad bandwidth, wide field of view sensing, and precise localization…
A key enabler for the emerging autonomous and cooperative driving services is high-throughput and reliable Vehicle-to-Network (V2N) communication. In this respect, the millimeter wave (mmWave) frequencies hold great promises because of the…
Remote driving, or teleoperating Autonomous Vehicles (AVs), is a key application that emerging 5G networks aim to support. In this paper, we conduct a systematic feasibility study of AV teleoperation over commercial 5G networks from both…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…