Theoretical Substitution Model for Teleoperation

With emerging teleoperation and driving automation, diversity in vehicle guidance possibilities increases. To be able to manage this diversity and to talk about the multiple possibilities technology offers, we need a straightforward conceptual basis that provides overview about how and to what extent which entity contributes to vehicle guidance. We suggest a model that provides a context for teleoperated and automated driving by acknowledging three different modes by which vehicle motion control may be executed: (1) in-vehicle human driver, (2) driving automation function and (3) teleoperating entity. According to our substitution model, teleoperation may substitute the human driver or the driving automation function. At the same time, the model discriminates between different types of substitution characterized by whether the teleoperation provides assistance or sustained driving, is planned or intervening and by the extent of substitution. The Substitution Model for Teleoperation strives for theoretical comprehensiveness while acknowledging the fact that it remains an abstract simplification.