# The Development of Teleoperated Driving to Cooperate with the Autonomous Driving Experience
## 3 Designs and Developments  
### Overall Designs  
This research presents the design and development of a control transition system that enables seamless switching between autonomous and remote operation modes on a modified electric golf cart. The system allows real-time control transitions based on environmental conditions or system performance. When the control mode experiences either a malfunction or its performance limits, the transition system ensures continued vehicle control by allowing intervention through an alternate mode. This dual-mode functionality is essential for ensuring operational safety, especially in unpredictable or constrained environments. To support this functionality, a malfunction surveillance system was developed to monitor both the autonomous and remote subsystems. It identifies anomalies and classifies them into various diagnostic categories. Upon detecting an abnormal event, the system alerts the control station, prompting the operator to take corrective action. Two critical scenarios were addressed: one where the vehicle, while in autonomous mode, detects a stationary obstacle and halts; if the obstacle remains beyond a defined threshold, the system alerts the operator to switch to remote control (Figure 1a). The other occurs during remote operation, where excessive network latency prompts the system to recommend switching back to autonomous mode for safer control (Figure 1b). Communication between the prototype vehicle and the control station is achieved through 5G wireless networking dedicated remote-control modules installed on both ends. This high speed allows the operator to respond effectively; a low-latency connection ensures reliable command transmission and real-time video feedback. The control station is equipped with a display monitor, vehicle control interface, latency indicators, and a mode-switch button, providing full situational awareness and control flexibility. The hardware and software integration between the vehicle and the control station supports both manual and automated control transitions. The operational flow of the control transition system is summarized in Figure 2. Manual mode switching can be initiated at any time by the operator using the designated button at the control station. However, in critical situations detected by the malfunction surveillance system, the system autonomously overrides the current mode and activates emergency braking to stop the vehicle. This immediate response mechanism ensures safety when neither control mode can operate reliably. Then, the control station alerts the operator, who can assess and resolve the situation by switching to the appropriate mode. Figure 1: The scenarios: (**a**) the system alert operator to switch autonomous driving to remote operation when an obstruction stands beyond the system-defined time threshold; (**b**) an autonomous driving system that engages when signal latency surpasses the system-defined limit. The diagram in Figure 2 outlines the interactions between sensing, planning, control, and fallback modules, as well as communication interfaces across the vehicle and control center. The proposed system integrates both autonomous and teleoperation modes within a unified architecture. On the vehicle side, sensor modules--including LiDAR, GNSS, and cameras--feed data to Autoware's perception and localization nodes, running on the onboard ROS framework. These data streams support mission planning and trajectory generation. A controller node then issues actuation commands to low-level interfaces: throttle, steering, and braking systems--each modified with electronic control modules. In parallel, a 5G communication module transmits compressed video streams and sensor metadata to the control center while receiving remote driving commands. On the control center side, a teleoperation interface replicates vehicle controls using a physical steering wheel and pedals, processed through a USB-to-CAN interface. Incoming sensor and camera data are visualized in real time to assist remote operation.