Patent Publication Number: US-2021191427-A1

Title: System and method for stabilized teleoperations of vehicles

Description:
BACKGROUND 
     The invention relates generally to a teleoperations of vehicles, and more specifically, to stabilized teleoperation of vehicles. 
     Certain vehicles may operate via control systems that direct the steering of vehicles remotely. For example, certain construction vehicles, agricultural tractors, and the like, may include teleoperated steering systems suitable for steering the vehicles from a remote location. Generally, the vehicle, such as the agricultural tractor, may be sent driving inputs provided by a remote operator. Accordingly, the control system, such as an electronic control system, may be used to control and/or otherwise steer the autonomous vehicle based on the remote inputs. The agricultural tractor may thus be steered through a field. It would be beneficial to improve on teleoperation of vehicles. As a result of improved teleoperations, the vehicle may improve drive times and enhance operational efficiency. 
     BRIEF DESCRIPTION 
     In one embodiment, a vehicle system includes at least one sensor and a communications system configured to receive one or more remote operations commands sent by a teleoperator. The vehicle system further includes control system configured to execute a yaw stabilization for teleoperations system to derive a filtered yaw command based on the one or more remote operations commands and the at least one sensor. The control system is further configured adjust control of the vehicle system based on the filtered yaw command, on the one or more remote operations commands, or on a combination thereof. 
     In another embodiment, a method includes receiving one or more remote operations commands via a communications system included in a vehicle system. The method further includes executing, via a control system, a yaw stabilization for teleoperations system to derive a filtered yaw command based on the one or more remote operations commands and a at least one sensor signal, and adjusting, via the control system, control of the vehicle system based on the filtered yaw command, on the one or more remote operations commands, or on a combination thereof. 
     In a further embodiment, a non-transitory, computer readable medium comprises instructions that when executed by a processor cause the processor receive one or more remote operations commands via a communications system included in a vehicle system. The instructions further cause the processor to execute, via a control system, a yaw stabilization for teleoperations system to derive a filtered yaw command based on the one or more remote operations commands and a at least one sensor signal. The instructions also cause the processor to adjust, via the control system, control of the vehicle system based on the filtered yaw command, on the one or more remote operations commands, or on a combination thereof. 
    
    
     
       DRAWINGS 
       These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG. 1  is a schematic diagram of an embodiment of a teleoperated vehicle operating within an agricultural field; 
         FIG. 2  is a block diagram of an embodiment of computing systems for the agricultural vehicle of  FIG. 1 , and for a remote operations system; 
         FIG. 3  is a flowchart of an embodiment of a process suitable for assisted teleoperations of the vehicle of  FIG. 1 ; and 
         FIG. 4  is a flowchart of an embodiment of a process suitable for yaw compensated teleoperations of the vehicle of  FIG. 1 . 
     
    
    
     DETAILED DESCRIPTION 
     Certain agricultural and other operations (mining, construction, and the like) may use an unmanned and/or manned vehicle such as a tractor or other vehicle. For agricultural operations, the vehicle may tow or include an agricultural implement such as a planter, seeder, fertilizer, and so on. In operations, the vehicle uses a map suitable for defining field boundaries, driving paths, and the like. The vehicle may operate in unmanned modes based on remote input received, for example, from a remote station. The vehicles described herein may include automatic vehicle systems that enhance remote operations. In teleoperation modes, a vehicle may use human input transmitted from a remote location. However, in certain embodiments, a human may work on the vehicle&#39;s cab based on inputs received (e.g., camera views, global positioning system (GPS), sensor input) and apply slightly erroneous throttle inputs (e.g., speed control), steering inputs, and/or braking inputs, for example, because of uneven terrain. The techniques described herein include an automatic adjustment teleoperations system and process for adjusting vehicle teleoperations. 
     For example, the automatic adjustment teleoperations system may use certain vehicle protection systems included in the vehicle, such as automatic braking systems, collision avoidance systems, rollover avoidance systems, and the like. Commands may be captured via input devices such as a joystick, the commands may then pass through a command filter that may compare the commands to what is being derived via the vehicle protection systems. The vehicle protection systems may include a variety of onboard sensors, such as laser sensors, stereo vision sensors, distance sensors, radar, and so on. The automatic adjustment teleoperations system may verify in real-time if the commands may cause the vehicle to exhibit unwanted behavior such as collisions, rollovers, braking issues, and so on, and then act to prevent or ameliorate the unwanted behavior. 
     For example, during operations over certain terrain, such as uneven terrain, a skid steer vehicle may tend to over rotate. As the operator attempts to compensate, for example by applying certain joystick inputs, the operator may overcompensate. Steering in tight spaces or around valuable crops may be problematic. The techniques described herein may apply automatic compensation, such as yaw compensation, to minimize or eliminate overcorrections. In certain embodiments, vehicles sensors (e.g., stereo cameras, lidars, inertial measurement unit [IMU], global positioning system [GPS], and the like) may be used to derive that the vehicle is moving in a desired direction and with a desired orientation. For example, if an operator using teleoperations is driving over terrain and there is a terrain change causing the vehicle to yaw more to the right, the operator might push to the left to make sure the vehicle can recover from the change. However, it is unlikely that the operator will get 100% suitable control via a command of the joystick. In such a situation, the techniques described herein include vehicle control technique that may adjust and/or override the operator command and help to keep the vehicle within desired orientation. For example, a limit may be placed on an amount of effort put into rotation of the vehicle to allow for a smooth transition back to the intended orientation. 
     Turning now to  FIG. 1 , the figure is a schematic diagram of an embodiment of a teleoperated vehicle  10  towing an agricultural implement  12  within an agricultural field  14 . The teleoperated vehicle may additionally include in-vehicle cab suitable for human operation. That is, in addition to teleoperations, the vehicle may be driven by a driver inside of the cab. The vehicle may also include automatic steering (e.g., autoguidance), where a human operator may ride in the cab operating throttle and brakes while the vehicle  10  steers automatically. While in the depicted embodiment, the vehicle  10  is depicted as an agricultural tractor, in other embodiments, the vehicle  10  may be a construction vehicle, a mining vehicle, a passenger vehicle, or the like. The tractor  10  or other prime mover is configured to tow the agricultural implement  12  throughout the field  14  along a direction of travel  16 . In certain embodiments, the tractor  10  is steered (e.g., via a teleoperator, in-vehicle operator, or an automated system) to traverse the field along substantially parallel rows  18 . However, it should be appreciated that the tractor  10  may be steered to traverse the field along other routes (e.g., along a spiral paths, curved paths, obstacle avoidance paths, and so on) in alternative embodiments. As will be appreciated, the agricultural implement  12  may be any suitable implement for performing agricultural operations throughout the field  14 . For example, in certain embodiments, the agricultural implement  12  may be a tillage tool, a fertilizer application tool, a seeding or planting tool, or a harvesting tool, among others. While the agricultural implement  12  is towed by the tractor  10  in the illustrated embodiment, it should be appreciated that in alternative embodiments, the agricultural implement may be integrated within the tractor  10 . As described earlier, it should be noted that the techniques describe herein may be used for operations other than agricultural operations. For example, mining operations, construction operations, automotive operations, and so on. 
     As the tractor  10  and the agricultural implement  12  traverse the field, the tractor  10  and the agricultural implement  12  may encounter various field and/or soil conditions, as well as certain structures. Such field and/or soil conditions and structures may be defined as features for purposes of the description herein. For example, the tractor  10  and the agricultural implement  12  may encounter features such as a pond  20 , a tree stand  22 , a building, fence, or other standing structure  24 , transport trailer  26 , and miscellaneous features  28 , inclines, muddy soil, and so on. The miscellaneous features  28  may include water pumps, above ground fixed or movable equipment (e.g. irrigation equipment, planting equipment), and so on. In certain embodiments, the tractor  10  is configured to operate tele-remotely (e.g., without an operator present in the cab of the off-road vehicle). Accordingly, a steering system may steer the tractor  10  and agricultural implement  12  throughout the field with control inputs from a remote operator, for example located at a remote operations control system  30 . The remote operations control system  30  may be located geographically distant from the vehicle system  10 . 
     The remote operations control system  30  may be communicatively coupled to the tractor  10  to provide for control instructions (e.g., wireless control) suitable for operating on the field  14 . The field  14  may include a field boundary  32 , as well as the various features, such as the pond  20 , the tree stand  22 , the building or other standing structure  24 , the transport trailer  26 , wet areas of the field  14  to be avoided, soft areas of the field to be avoided, the miscellaneous features  28 , and so on. As the tractor  10  operates, the operator may steer to follow a desired pattern (e.g., up and down the field) as well as to avoid obstacles. However, certain terrain features (e.g., inclines, enclosed spaces, muddy terrain, snow, ice) may result in unwanted control inputs. Accordingly, an automatic adjustment teleoperations system may be provided, either included in a vehicle control system, in an external system such as the remote operations control system  30 , or in a combination thereof. The automatic adjustment teleoperations system may apply certain steering inputs, throttle inputs, braking inputs, and the like described in more detail below to adjust or otherwise correct the remote inputs from the remote operations control system  30  to provide for improved driving and control of the tractor  10 , as discussed in detail below, 
     It may be useful to illustrate a system that may be used to both remotely drive the agricultural vehicle  10  as well as to adjust remote inputs sent to the agricultural vehicle  10 . Accordingly, and turning now to  FIG. 2 , the figure is a schematic diagram of an embodiment of a control system  36  that may be employed to control operations of the agricultural vehicle  10  of  FIG. 1 . In the illustrated embodiment, a control system  36  includes a spatial location system  38 , which is mounted to the agricultural vehicle  10  and configured to determine a position, and in certain embodiments a velocity, of the agricultural vehicle  10 . As will be appreciated, the spatial location system  38  may include any suitable system configured to measure and/or determine the position of the autonomous agricultural vehicle  10 , such as a global positioning system (GPS) receiver, for example, and/or GLONASS or other similar system. The spatial location system  38  may additionally use real time kinematic (RTK) techniques to enhance positioning accuracy. 
     In the illustrated embodiment, the control system  36  includes a steering control system  46  configured to control a direction of movement of the agricultural vehicle  10 , and a speed control system  48  configured to control a speed of the agricultural vehicle  10 . In addition, the control system  36  includes a controller  49 , which is communicatively coupled to the spatial locating device  38 , to the steering control system  46 , and to the speed control system  48 . The controller  49  is configured to receive inputs via a communications system  50  to control the agricultural vehicle during certain phases of agricultural operations. The controller  49  may also be operatively coupled to certain vehicle protection systems  51 , such as an automatic braking system  52 , a collision avoidance system  54 , a rollover avoidance system  56 , and so on. The vehicle protection systems  51  may be communicatively coupled to one or more sensors  58 , such as cameras, radar, stereo vision, distance sensors, lasers, inclinometers, acceleration sensors, speed sensors, and so on, suitable for detecting objects, distances to objects, speeds, temperatures, vehicle inclination (e.g., slope), and the like. The sensors  58  may also be used by the controller  49  for driving operations, for example, to provide for collision information, speed, acceleration, braking information, and the like. 
     Also shown is an automatic adjustment teleoperations system  60  that may filter driving commands incoming from the remote operations control system  30 . More specifically, the automatic adjustment teleoperations system  60  may use the sensors  68  and/or the vehicle protection systems  51  to determine a state of the vehicle and to then adjust the driving commands that may be received by the vehicle  10 . For example, if a joystick is intended to be at pushed left at 20% to compensate for certain terrain, and an operator using the remote operations control system  30  moves the joystick to 40% left input, the knowledge of the entire state of the vehicle  10 , including vehicle surroundings, may be used to filter the incoming move left command and adjust the command to a smaller input, e.g., because of the operational environment sensed via the sensors  68 . The adjustment teleoperations system  60  may also receive inputs from the vehicle protection systems  51  to filter commands. For example, the vehicle protection systems  51  may give indications of upcoming collisions, and so on, and the automatic adjustment teleoperations system  60  may use such indications to update the incoming command from the remote operations control system  30 . In certain embodiments, the vehicle protection systems  51  may override the automatic adjustment teleoperations system  60 , for example, for collision avoidance, rollover avoidance, prevent brake lock, and so on. 
     The automatic adjustment teleoperations system  60  may include or use a yaw stabilization for teleoperations system (YSTS)  69 . The yaw stabilization for teleoperations system  69  may be used to filter operator yaw commands based on sensor  58  data, including cameras, the spatial location system  38 , the speed control system  48 , and/or the braking control system  67 . The YSTS  69  may be included in the vehicle protection systems  51  or operatively coupled to the vehicle protection systems  51 . In use, operator commands that change yaw may be first observed by the yaw stabilization for teleoperations system  69  to determine if the operator command would result in either too much yaw or too little yaw. For example, during a turn, the operator command, if followed, may over rotate (e.g., too much yaw input) the vehicle  10  due, for example, to certain conditions (e.g., mud, snow, loose gravel, driving on an incline, certain of the wheel(s) encountering different terrain and/or incline conditions). When the over rotation is predicted, the yaw stabilization for teleoperations system  69  may override the operator command and instead filter the operator command to provide for a desired travel “line”. That is, the yaw stabilization for teleoperations system  69  may include settings to maintain certain desired yaw rates (e.g., speed of turn), angle of turn per distance moved, and so on. 
     In certain embodiments, the controller  49  is an electronic controller having electrical circuitry configured to process data from the spatial locating device  38 , the vehicle protection systems  51 , the sensors  68 , and/or other components of the control system  36 . In the illustrated embodiment, the controller  49  includes a processor, such as the illustrated microprocessor  63 , and a memory device  65 . The controller  49  may also include one or more storage devices and/or other suitable components. The processor  63  may be used to execute software, such as software for controlling the agricultural vehicle, software for determining vehicle orientation, software to perform steering calibration, and so forth. Moreover, the processor  63  may include multiple microprocessors, one or more “general-purpose” microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processor  63  may include one or more reduced instruction set (RISC) processors. 
     The memory device  65  may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory device  65  may store a variety of information and may be used for various purposes. For example, the memory device  65  may store processor-executable instructions (e.g., firmware or software) for the processor  63  to execute, such as instructions for controlling the agricultural vehicle, instructions for determining vehicle orientation, and so forth. The storage device(s) (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data (e.g., position data, vehicle geometry data, etc.), instructions (e.g., software or firmware for controlling the agricultural vehicle, etc.), and any other suitable data. 
     In certain embodiments, the steering control system  46  may rotate one or more wheels and/or tracks of the agricultural vehicle (e.g., via hydraulic actuators) to steer the agricultural vehicle along a desired route (e.g., as guided by a remote operator using the remote operations control system  30 ). By way of example, the wheel angle may be rotated for front wheels/tracks, rear wheels/tracks, and/or intermediate wheels/tracks of the agricultural vehicle, either individually or in groups. A braking control system  67  may independently vary the braking force on each lateral side of the agricultural vehicle to direct the agricultural vehicle along a path. Similarly, torque vectoring may be used differentially apply torque from an engine to wheels and/or tracks on each lateral side of the agricultural vehicle, thereby directing the agricultural vehicle along a path. In further embodiments, the steering control system  46  may include other and/or additional systems to facilitate directing the agricultural vehicle along a path through the field. 
     In certain embodiments, the speed control system  48  may include an engine output control system, a transmission control system, or a combination thereof. The engine output control system may vary the output of the engine to control the speed of the agricultural vehicle. For example, the engine output control system may vary a throttle setting of the engine, a fuel/air mixture of the engine, a timing of the engine, other suitable engine parameters to control engine output, or a combination thereof. In addition, the transmission control system may adjust gear selection within a transmission to control the speed of the agricultural vehicle. Furthermore, the braking control system may adjust braking force, thereby controlling the speed of the agricultural vehicle. In further embodiments, the speed control system may include other and/or additional systems to facilitate adjusting the speed of the agricultural vehicle. 
     The systems  46 ,  48 , and/or  67  may be remotely controlled by the remote operations control system  30 . That is, a human operator may use the remote operations control system  30  to control or otherwise drive the vehicle  10  remotely. It is to be noted that remote control may include control from a location geographically distant to the vehicle  10  but may also include control where the human operator may be besides the vehicle  10  and may observe the vehicle  10  locally during operations. 
     In certain embodiments, the control system  36  may also control operation of the agricultural implement  12  coupled to the agricultural vehicle  10 . For example, the control system  36  may include an implement control system/implement controller configured to control a steering angle of the implement  12  (e.g., via an implement steering control system having a wheel angle control system and/or a differential braking system) and/or a speed of the agricultural vehicle/implement system  12  (e.g., via an implement speed control system having a braking control system). The automatic adjustment teleoperations system  60  may be used to filter and/or command both the vehicle  10  and/or the agricultural implement  12 . In such embodiments, the control system  36  may be communicatively coupled to the implement control system/controller on the implement  12  via a communication network, such as a controller area network (CAN bus). Such control may also be provided remotely via the remote operations control system  30 . 
     In the illustrated embodiment, the control system  36  includes a user interface  54  communicatively coupled to the controller  49 . The user interface  54  is configured to enable an operator (e.g., standing proximate or inside the agricultural vehicle) to control certain parameter associated with operation of the agricultural vehicle. For example, the user interface  54  may include a switch that enables the operator to configure the agricultural vehicle for or manual operation. In addition, the user interface  54  may include a battery cut-off switch, an engine ignition switch, a stop button, or a combination thereof, among other controls. In certain embodiments, the user interface  54  includes a display  56  configured to present information to the operator, such as a visual representation of certain parameter(s) associated with operation of the agricultural vehicle (e.g., fuel level, oil pressure, water temperature, etc.), a visual representation of certain parameter(s) associated with operation of an implement coupled to the agricultural vehicle (e.g., seed level, penetration depth of ground engaging tools, orientation(s)/position(s) of certain components of the implement, etc.), or a combination thereof, In certain embodiments, the display  56  may include a touch screen interface that enables the operator to control certain parameters associated with operation of the agricultural vehicle and/or the implement. 
     In the illustrated embodiment, the control system  36  may include manual controls configured to enable an operator to control the agricultural vehicle while remote control is disengaged. The manual controls may include manual steering control, manual transmission control, manual braking control, or a combination thereof, among other controls. In the illustrated embodiment, the manual controls are communicatively coupled to the controller  49 . The controller  49  is configured to disengage automatic control of the agricultural vehicle upon receiving a signal indicative of manual control of the agricultural vehicle. Accordingly, if an operator controls the agricultural vehicle manually, the automatic control terminates, thereby enabling the operator to control the agricultural vehicle. 
     In the illustrated embodiment, the control system  36  includes the communications system  50  communicatively coupled to the controller  44 . In certain embodiments, the communications system  50  is configured to establish a communication link with a corresponding communications system  61  of the remote operations control system  30 , thereby facilitating communication between the remote operations control system  30  and the control system  36  of the autonomous agricultural vehicle. For example, the remote operations control system  30  may include a control system  71  having a user interface  62  having a display  64  that enables a remote operator to provide instructions to a controller  66  (e.g., instructions to initiate control of the agricultural vehicle  10 , instructions to remotely drive the agricultural vehicle, instructions to direct the agricultural vehicle along a path, instructions to command the steering control  46 , braking control  67 , and/or speed control  48 , instructions to, etc.). For example, joysticks, keyboards, trackballs, and so on, may be used to provide the user interface  62  with inputs used to then derive commands to control or otherwise drive the vehicle  10  remotely. 
     In the illustrated embodiment, the controller  66  includes a processor, such as the illustrated microprocessor  72 , and a memory device  74 . The controller  66  may also include one or more storage devices and/or other suitable components. The processor  72  may be used to execute software, such as software for controlling the agricultural vehicle  10  remotely, software for determining vehicle orientation, software to perform steering calibration, and so forth. Moreover, the processor  72  may include multiple microprocessors, one or more “general-purpose” microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processor  50  may include one or more reduced instruction set (RISC) processors. 
     The memory device  74  may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory device  74  may store a variety of information and may be used for various purposes. For example, the memory device  74  may store processor-executable instructions (e.g., firmware or software) for the processor  72  to execute, such as instructions for controlling the agricultural vehicle  10  remotely, instructions for determining vehicle orientation, and so forth. The storage device(s) (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data (e.g., position data, vehicle geometry data, etc.), instructions (e.g., software or firmware for controlling the agricultural vehicle, mapping software or firmware, etc.), and any other suitable data. 
     The communication systems  50 ,  61  may operate at any suitable frequency range within the electromagnetic spectrum. For example, in certain embodiments, the communication systems  50 ,  61  may broadcast and receive radio waves within a frequency range of about 1 GHz to about 10 GHz. In addition, the communication systems  50 ,  61  may utilize any suitable communication protocol, such as a standard protocol (e.g., Wi-Fi, Bluetooth, etc.) or a proprietary protocol. 
     In certain embodiments, a second automatic adjustment teleoperations (AATS) system  76  and/or a second yaw stabilization for teleoperations system (YSTS)  77  may also be provided in the control system  71 . That is, data, from example from the sensors  58  and/or vehicle protection systems  51  may be transmitted to the remote operations control system  30  to be processed by the second AATS  76  system and/or second YSTS  77  system to also filter user inputs that remote control the vehicle  10  as described above. In some cases, such as when the vehicle  10  is operated in visual line of sight to the remote operator, the AATS system  76  and/or the YSTS system  77  may be used on their own without using on the first AATS system  60  and/or the first YSTS system  69 . In embodiments where visual line of sight may not be available to the vehicle  10  during remote control, the first AATS system  60  and/or the first YSTS system  69  may be used on their own. 
       FIG. 3  illustrates a flowchart of an embodiment of a process  100  suitable for remote control of the vehicle  10 . The process  100  may be implemented as computer instructions or code executable via the processors  63 ,  72  and stored in the memories  65 ,  74 . In the depicted embodiment, the process  100  may first start (block  102 ) a teleoperations assist mode that may engage the AATS  60 ,  76 , and/or the YSTS  69 ,  77 . 
     The process  100  may then await (block  104 ) one or more remote operations commands incoming via the remote control system  30 . The one or more remote operations commands may then be filtered (block  106 ) by the AATS  60 ,  76 , and/or the YSTS  69 ,  77 . For example, the AATS  76  and/or YSTS  77  may be used during line of sight operations, while the AATS  60  and/or YSTS  69  may be used when a certain latency is experienced between the communication systems  50 ,  61 . 
     To filter incoming commands, the AATS  60 ,  76 , and/or the YSTS  69 ,  77  may use the sensors  58  and/or outputs form the vehicle protection systems  51  to determine certain vehicle states. For example, when the vehicle  10  is near a trailer, a state of low speed may be determined. Likewise, low speed states may be determined when the vehicle  10  is near obstacles, near other vehicles, and so on. Some of the remote operations commands may result in filtered commands  108 . For example, if a joystick is intended to be at forward at 20% and an operator using the remote operations control system  30  accidentally pushes the joystick to 100%, the knowledge of the entire state of the vehicle  10  may be used to filter the incoming move forward command 100% into a move forward command 20% due to detection of the trailer environment or obstacles detected. In some embodiments, no brakes may need to be applied but simply the filtered command  108  may result in less throttle. In other embodiments, brakes may be used, alone or in combination with less throttle, to slow the vehicle  10 . Other filtered commands may include steering commands, braking commands, agricultural implement commands, or a combination thereof. For example, steering motions when an operator inadvertently causes oversteer may be reduced, likewise, overbraking may be reduced. Similarly, yaw commands may be filtered based on sensor  58  data, including cameras, the spatial location system  38 , the speed control system  48 , the braking control system  67 , and/or the vehicle protection systems  51 , to keep the vehicle  10  within desired a desired area, travel line, and/or yaw during teleoperations. 
     It is to be noted that in some cases the filtering (block  106 ) may result in unfiltered commands  110  being issued. For example, if the AATS system  60 ,  76  and/or YSTS  69 , 77  determine that the vehicle is in a state that does not require filtering, e.g., in an open field, no nearby obstacles, and so on, then the incoming remote command may not be filtered, resulting in unfiltered commands  110 . The commands  108  and/or  110  may then be processed by the control system  36  to remotely operate the vehicle, e.g., by engaging the steering control  46 , the speed control  48 , and/or the braking control  67 . In this manner, an assisted teleoperations mode may be provided. Further, a manual override may be used. For example, sensor errors and/or other circumstances may then be handled via the manual override. 
       FIG. 4  illustrates a flowchart of an embodiment of a process  200  suitable for remote control of the vehicle  10 . The process  100  may be implemented as computer instructions or code executable via the processors  63 ,  72  and stored in the memories  65 ,  74 . In the depicted embodiment, the process  200  may first start (block  202 ) a yaw teleoperations stabilization mode that may engage the YSTS  69  and/or  77 . During operations, the YSTS  69  and/or  77  may await (block  204 ) for commands issued by the teleoperator. The YSTS  69  and/or  77  may then execute (block  206 ) a yaw compensation process in a background mode. For example, the process  200  may use as input data from the sensors  58 , the spatial location system  38 , the speed control system  48 , the braking control system  67 , and/or the vehicle protection systems  51  to continuously provide for yaw compensation in a background mode without actuating any controls. Yaw compensation may include executing a vehicle  10  model that determines a turn speed, turn angle, direction of travel, or a combination thereof, based on the aforementioned inputs, and determines a yaw compensation amount to keep the vehicle  10  within a desired speed of turn, travel line, area, tire rotation speed (e.g., tire slip), angle of vehicle tilt, and the like. 
     The process  200  may then compare (block  208 ) the operator&#39;s teleoperation command (e.g., turn right 50%) with yaw compensation running in the background to determine if the teleoperation command should be filtered and/or overridden. For example, if the teleoperation operator command would result in the vehicle  10  turning too fast, “slipping” (e.g. one or more wheels losing traction during a turn, the vehicle moving sideways during operations on an incline), excessive vehicle tilt, and so on, the process  200  may then filter (e.g., modify) the teleoperations command or override the teleoperations command (block  210 ). For example, if the teleoperator command would result in too fast of a left turn, the process  200  may apply yaw compensation to ameliorate the speed of the turn, for example, to minimize or eliminate “slip” and/or to maintain a desired line of travel, angle range of turn, and so on. 
     Likewise, if the teleoperator command would result in the vehicle turning outside of a desired range of turn angles (e.g., vehicle turning more than 90 degrees in a given time span, such as less than 3 seconds), the teleoperator command may be overridden (block  210 ) and a new yaw command used that prevents the overturn. The filtered and/or new command may then be sent (block  212 ) to the vehicle  10  (e.g., to the steering control  44 , speed control  48 , braking control  67 , systems  51 , or combination thereof) to apply yaw compensation. The process  200  may be iterative, continuously adjusting yaw or may stop (block  214 ). 
     While only certain features of the invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.