Methods, computer programs, and apparatuses for a command center and a vehicle, a vehicle and a command center

An apparatus for a transportation vehicle to be teleoperated by a command center, the apparatus comprising:

• one or more interfaces for communicating with the command center;
• and
• a control module to:
• transmit input data to the command center;
• receive control information for teleoperating the transportation vehicle from the control center, the control information comprising at least on time stamp of a predefined time clock;
• determine a delay compensation for the control information based on the time stamp to obtain delay compensated control information;
• and
• apply the delay compensated control information to the transportation vehicle,
• wherein the determining of the control information comprises determining the control information for a future time point to at least partly compensate the estimated downlink and uplink delay,
• wherein the control information comprises at least one time stamp as time reference for the control information, and
• wherein the control information comprises at least two time stamps and wherein the determining of the delay compensation comprises interpolating or extrapolating the control information based on the at least two time stamps to an application time point of the control information.

A method for a command center to teleoperate a transportation vehicle, the method comprising:

• receiving input data from the transportation vehicle;
• estimating a current uplink delay based on the input data from the transportation vehicle;
• determining an estimated downlink and uplink delay based on the input data and the estimated current uplink delay;
• determining control information for the transportation vehicle to at least partly compensate the estimated downlink and uplink delay;
• and
• transmitting the control information to the transportation vehicle,
• wherein the determining of the control information comprises determining the control information for a future time point to at least partly compensate the estimated downlink and uplink delay and wherein the control information comprises at least one time stamp as time reference for the control information, and
• wherein the determining of the control information comprises determining different control information for at least two different future time points to enable time interpolation or extrapolation of the control information at the transportation vehicle for at least partly compensating the downlink delay.

A method for a transportation vehicle to be teleoperated by a command center, the method comprising:

• transmitting input data to the command center;
• receiving control information for teleoperating the transportation vehicle from the control center, the control information comprising at least on time stamp of a predefined time clock;
• determining a delay compensation for the control information based on the time stamp to obtain delay compensated control information;
• and
• applying the delay compensated control information to the transportation vehicle,
• wherein the determining of the control information comprises determining the control information for a future time point to at least partly compensate the estimated downlink and uplink delay,
• wherein the control information comprises at least one time stamp as time reference for the control information, wherein the control information comprises at least two time stamps, and
• wherein the determining of the delay compensation comprises interpolating or extrapolating the control information based on the at least two time stamps to an application time point of the control information.