Shared Control of Teleoperated Vehicles With Delay-Compensated Safety Filtering

This work presents a new shared control framework for teleoperated vehicles, targeting critical safety challenges arising from the control communication latency and the correctness of driver warnings. The proposed delaycompensated shared control architecture integrates two key components: a conformal prediction-based warning system that proactively alerts remote drivers of potential hazards and an onboard safety filter that combines a delay compensator, a disturbance observer, and a control barrier function-based quadratic program. The proposed design framework generates real-time safe control commands at the human-operation level despite delayed human inputs. A high-fidelity simulation platform was developed for semi-autonomous vehicle teleoperation using Chrono, a multi-physics-based simulator. Through extensive experiments in diverse scenarios, the proposed approach demonstrates robust performance and reliable safety maintenance under aggressive maneuvers and communication delays.