Driving directionFig. 1: A teleoperated autoTAXI vehicle maneuvering around an improvised construction site C on a test track in Aldenhoven, Germany. The vehicle tracks the trajectory defined by the remote operator (path visualized in blue) from the start position A to the goal position B , effectively solving the AV disengagement scenario. Yellow circles ( ) depict approximate path waypoints specified by a remote operator using the presented teleoperation system.
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