# Selecting Remote Driving Locations for Latency Sensitive Reliable Tele-Operation
###### Abstract  
These days, autonomous vehicles (AVs) technology has been improved dramatically. However, even though the AVs require no human intervention in most situations, AVs may fail in certain situations. In such cases, it is desirable that humans can operate the vehicle manually to recover from a failure situation through remote driving. Furthermore, we believe that remote driving can enhance the current transportation system in various ways. In this paper, we consider a revolutionary transportation platform, where all the vehicles in an area are controlled by some remote controllers or drivers so that transportation can be performed in a more efficient way. For example, road capacity can be effectively utilized and fuel efficiency can be increased by centralized remote control. However, one of the biggest challenges in such remote driving is the communication latency between the remote driver and the vehicle. Thus, selecting appropriate locations of the remote drivers is very important to avoid any type of safety problem that might happen due to large communication latency. Furthermore, the selection should reflect the traffic situation created by multiple vehicles in an area. To tackle these challenges, in this paper, we propose several algorithms that select remote drivers' locations for a given transportation schedules of multiple vehicles. We consider two objectives in this system and evaluate the performance of the proposed algorithms through simulations. The results show that the proposed algorithms perform better than some baseline algorithms. remote driving; remote driver selection; intelligent transportation; autonomous vehicle 40.1 2021 11 9799 10.1 2021 18 October 2021 20 October  
real roads from a distance of hundreds of miles [5; 6]. Even though remote driving can alleviate the problem of autonomous vehicles, latency is the biggest challenge for the safety of remote driving. Remote driving involves sending necessary data from the vehicle to a remote driver, who can then send control information to the remotely controlled vehicle. Thus, to drive a car safely from a distance, the information exchange should be done in a very short time. If the latency is large, the remote driving may also fail. Additionally, regarding remote driving as a viable complementary measure to AV, we consider a revolutionary transportation platform, where all the vehicles in an area are controlled by some remote controllers or drivers so that transportation can be performed in a more efficient way. In such a remote control platform, we need to carefully choose the locations of remote drivers to reduce the latency between the remote drivers and the vehicles for the given transportation requests that consist of source-destination pairs of multiple vehicles. Intuitively, if we have more remote driving locations, the latency can be reduced. However, the cost of operating remote driving facilities may increase. Thus, there are some trade-offs between the latency and the number of remote driving locations. In this paper, we first define two objectives in selecting remote driving locations considering various requirements and constraints. The two objectives reflect two different situations in selecting remote driving locations. First one is to select the driving locations in such a way that we want to keep the number of selected location low as long as the selected locations satisfy the given latency constraint. The latency constraint represents the upper bound of the latency between the remote drivers and the vehicles. By reducing the number of driving locations, we can reduce the operating costs. The second one is to reduce the latency as much as possible while selecting a fixed number of driving locations. In this objective, the operation cost is fixed because the number of driving locations is fixed. Thus, with the same amount of cost, we want to increase the safety of remote driving by reducing the latency between the drivers and the vehicles.