Abstract-- T eleoperation is a key enabler for future mobility, supporting Automated V ehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote Driving, e.g., via steering wheel and pedals, Remote Assistance through high-level interaction with automated driving software modules, and integration with a real-world vehicle for practical testing. T o address this gap, we present a modular, open source teleoperation software stack that can interact with an automated driving software, e.g., Autoware, enabling Remote Assistance and Remote Driving. The software features standardized interfaces for seamless integration with various real-world and simulation platforms, while allowing for flexible design of the human-machine interface. The system is designed for modularity and ease of extension, serving as a foundation for collaborative development on individual software components as well as realistic testing and user studies. T o demonstrate the applicability of our software, we evaluated the latency and performance of different vehicle platforms in simulation and real-world. Teleoperation enables remote support of robots over mobile networks, allowing humans to handle tasks that cannot be fully automated. In the field of intelligent vehicles, tele-operation has gained traction, with companies like Fernride and V ay deploying remote driving solutions for logistics and car sharing, gathering significant funding [1, 2]. Tele-operation also supports Automated V ehicles (A Vs) during disengagements, as seen with Waymo and Zoox, which rely on Remote Operators (ROs) when A Vs cannot resolve a scenario [3, 4].

Kooij, G. Papaioannou, B. Shyrokau, and D.M. Gavrila Department of Cognitive Robotics, Delft University of Technology Abstract --We present a vehicle system capable of navigating safely and efficiently around V ulnerable Road Users (VRUs), such as pedestrians and cyclists. The system comprises key modules for environment perception, localization and mapping, motion planning, and control, integrated into a prototype vehicle. A key innovation is a motion planner based on T opology-driven Model Predictive Control (T -MPC). The guidance layer generates multiple trajectories in parallel, each representing a distinct strategy for obstacle avoidance or non-passing. The underlying trajectory optimization constrains the joint probability of collision with VRUs under generic uncertainties. T o address extraordinary situations ("edge cases") that go beyond the autonomous capabilities -- such as construction zones or encounters with emergency responders -- the system includes an option for remote human operation, supported by visual and haptic guidance. In simulation, our motion planner outperforms three baseline approaches in terms of safety and efficiency. We also demonstrate the full system in prototype vehicle tests on a closed track, both in autonomous and remotely operated modes. I NTRODUCTION Automated driving has made steady progress in recent years. For instance, advanced highway autopilot systems now enable drivers to divert their attention and engage in side activities--until prompted to retake control (i.e., conditional automation).

Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges. The following work puts existing ideas into a modern context and introduces a novel technical implementation of the trajectory guidance teleoperation concept. The presented system was developed within a high-fidelity simulation environment and experimentally validated, demonstrating a realistic ride-hailing mission with prototype autonomous vehicles and onboard passengers. The results indicate that the proposed concept can be a viable alternative to the existing remote driving options, offering a promising way to enhance teleoperation technology and improve overall operation safety.

Teleoperation is considered as a viable option to control fully automated vehicles (AVs) of Level 4 and 5 in special conditions. However, by bringing the remote drivers in the loop, their driving experience should be realistic to secure safe and comfortable remote control.Therefore, the remote control tower should be designed such that remote drivers receive high quality cues regarding the vehicle state and the driving environment. In this direction, the steering feedback could be manipulated to provide feedback to the remote drivers regarding how the vehicle reacts to their commands. However, until now, it is unclear how the remote drivers' steering feel could impact occupant's motion comfort. This paper focuses on exploring how the driver feel in remote (RD) and normal driving (ND) are related with motion comfort. More specifically, different types of steering feedback controllers are applied in (a) the steering system of a Research Concept Vehicle-model E (RCV-E) and (b) the steering system of a remote control tower. An experiment was performed to assess driver feel when the RCV-E is normally and remotely driven. Subjective assessment and objective metrics are employed to assess drivers' feel and occupants' motion comfort in both remote and normal driving scenarios. The results illustrate that motion sickness and ride comfort are only affected by the steering velocity in remote driving, while throttle input variations affect them in normal driving. The results demonstrate that motion sickness and steering velocity increase both around 25$\%$ from normal to remote driving.

The remote driving of vehicles from overseas, such as for the delivery of rental cars, could be banned following a government-commissioned review. The review was carried out by the Law Commission of England and Wales, which recommended ministers regulate the technology. It is currently used only in controlled environments, such as farms and warehouses, but future applications could seek to extend its use in the UK to the delivery of rental cars. The technology allows for vehicles to be controlled remotely, potentially in public spaces. There is currently no UK law for a driver to be in the vehicle they are controlling.