# The Development of Teleoperated Driving to Cooperate with the Autonomous Driving Experience
## 4 Experimental Setup  
Once the prototype vehicle was developed, testing of the control transition system between autonomous driving and remote operation was conducted on the Chulalongkorn University campus. The test route followed a one-way, clockwise loop (Figure 7a), with the vehicle's speed limited to approximately 4.17 m/s (approximately 15 km/h). During  
Figure 6: Vehicle-control station communication system overview. autonomous operation, the vehicle followed a pre-recorded path, maintaining proximity to the left lane to provide a visual reference for the remote controller. This consistency helped the operator align the vehicle using lane markings visible on the control station's monitor. The system was tested under two main scenarios (Figure 7b). In the first, the vehicle encountered a stationary obstacle while in autonomous mode, prompting it to brake to a full stop. If the obstacle remained beyond a predefined duration, the system triggered a red warning light at the control station, prompting the operator to take control via remote-control mode. In the second scenario, if high latency was detected during remote operation, the red light signaled the need to switch back to autonomous mode for safety. The test involved four designated control transition points along the route. Throughout the test, the latency indicator light enabled the remote operator to monitor real-time communication delays and switch modes or activate the emergency stop as needed. To evaluate system responsiveness, the research compared the linear deviation between the actual path and the recorded reference path. It also measured the response of the steering and speed systems relative to control inputs from the Logitch G29 controller and the Autoware autonomous driving platform. These responses were mapped with corresponding GPS coordinates and latency values using a U-blox FED-F9P GNSS module. Round trip time (RTT) latency between the vehicle and the control station was measured using a custom Python 3.7 script. Time synchronization between the two systems was maintained via the Chronyd method, which leverages the Network Time Protocol (NTP) to ensure both computers operate with precise and consistent timing. This setup ensured accurate latency measurement and reliable performance evaluation of the transition control system. The test procedure begins with the vehicle operating under remote control from the starting point to point 1. During this segment, a simulated signal delay of 500 milliseconds is introduced by the controller at the control station. Although the actual measured latency remains within acceptable limits, the system is designed to enter emergency mode if the delay exceeds the threshold. Upon detecting this hypothetical delay, the vehicle autonomously brakes to a stop, triggering the red status lights on both the vehicle and control station to notify the operator. The latency indicator LED, located to the left of the steering wheel, also turns red, confirming the simulated delay exceeds 500 milliseconds. The controller then presses the mode switch button to transition the system from remote to  
Figure 7: The test path consisted of a one-way, clockwise loop. (**a**) Signal latency values were tested within the premises of Chulalongkorn University. (**b**) Control handover test point between autonomous and remote driving systems. autonomous control. Once the mode is switched, the status light changes to orange, and the vehicle resumes movement in autonomous mode. The vehicle continues autonomously to point 2, where an obstacle simulated as a human is in front of the vehicle. Upon detecting the obstruction, the vehicle brakes to a stop and starts a 20 s countdown. If the obstacle remains beyond this time, the system autonomously enters emergency mode. Red status lights are activated on both the vehicle and control station. The controller observes the LED latency indicator, which is green (indicating a delay of less than 100 milliseconds), confirming safe communication for remote operation.