# The Development of Teleoperated Driving to Cooperate with the Autonomous Driving Experience
## 3 Designs and Developments
### Remote Cockpit and 5G Communication System  
Four 720p video cameras were strategically installed around the prototype vehicle to capture the surrounding environment and transmit real-time footage to a control station. The video feeds are displayed across three monitors, providing the remote driver with a wide-angle and immersive visual field. This setup enhances situational awareness and creates a driving experience closely resembling that of operating a conventional vehicle. The control interface at the station includes a Logitech G29 Driving Force system, which replicates standard car controls such as the steering wheel, horn, headlights, turn signals, accelerator, brake pedal, and gear shift. Additional equipment, including a remote emergency stop button, mode selection switches (for toggling between autonomous and remote control), a mode status indicator, and a real-time signal latency LED, are arranged ergonom  
Figure 4: Overview of the electrical system for vehicle accessories. ically around the driver's seat to mirror a typical vehicle interior and ensure operational familiarity as shown in Figure 5.  
The 5G communication module used in this study operated in sub-6 GHz NSA mode on a commercial network. During field trials, the system achieved an average round-trip latency of approximately 110 ms, with worst-case spikes up to \(\sim\)317 ms under network load. These values were measured using ROS-based timestamping tools and are within the tolerable range for low-speed remote driving scenarios. Communication between the control station and the prototype vehicle is facilitated by a 5G sub-6 GHz non-standalone (NSA) cellular network. Signal transmission begins with a computer sending data via a twisted pair cable to a customer premises equipment (CPE) unit, which relays it to an active antenna unit (AAU) at the base station. From there, data travel via fiberoptic cable to the core network, which routes it to the destination system using the same sequence, as illustrated in Figure 6. Commands transmitted from the control station to the vehicle include inputs for steering, acceleration, and braking and require high reliability and accuracy. To ensure this, the system utilizes the transmission control protocol (TCP), known for its error-checking and data integrity mechanisms. Conversely, video signals sent from the vehicle to the control station are larger in size and more time-sensitive. Therefore, the user datagram protocol (UDP) is employed to prioritize speed, despite its reduced reliability and potential for occasional data loss. This dual-protocol strategy ensures efficient and dependable communication tailored to the specific needs of control and feedback functions. The control system designed in this research enables seamless switching between autonomous and remote-control modes by the operator at the control station during real-time operation. To clearly indicate the current mode, a status light is used: green denotes remote-control mode, yellow indicates autonomous mode, and red signals an emergency. A red light is triggered autonomously when the system detects conditions such as excessive communication delay during remote control or prolonged obstacle presence during autonomous driving. When this occurs, the system prompts the controller to take immediate action by confirming a mode change. An additional LED indicator, located near the steering wheel, displays real-time latency information. Each LED color corresponds to a specific delay range, allowing the controller to quickly assess communication performance. This indicator is integrated into the same control unit that houses the mode switch, emergency stop button, and system status light. Figure 5: Control station setup for teleoperation. The data exchange architecture between the prototype vehicle and control station is modular and organized using the Robot Operating System (ROS), which serves as the central middleware.