LAVQA: A Latency-Aware Visual Question Answering Framework for Shared Autonomy in Self-Driving Vehicles

摘要

When uncertainty is high, self-driving vehicles may halt for safety and benefit from the access to remote human operators who can provide high-level guidance. This paradigm, known as {shared autonomy}, enables autonomous vehicle and remote human operators to jointly formulate appropriate responses. To address critical decision timing with variable latency due to wireless network delays and human response time, we present LAVQA, a latency-aware shared autonomy framework that integrates Visual Question Answering (VQA) and spatiotemporal risk visualization. LAVQA augments visual queries with Latency-Induced COllision Map (LICOM), a dynamically evolving map that represents both temporal latency and spatial uncertainty. It enables remote operator to observe as the vehicle safety regions vary over time in the presence of dynamic obstacles and delayed responses. Closed-loop simulations in CARLA, the de-facto standard for autonomous vehicle simulator, suggest that that LAVQA can reduce collision rates by over 8x compared to latency-agnostic baselines.