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Autonomous driving is among the most promising of upcoming traffic safetytechnologies. Prototypes of autonomous vehicles are already being tested onpublic streets today. However, while current prototypes prove the feasibilityof truly driverless cars, edge cases remain which necessitate falling back onhuman operators. Teleoperated driving is one solution that would allow a humanto remotely control a vehicle via mobile radio networks. Removing in-vehicledrivers would thus allow current autonomous technologies to further progresstowards becoming genuinely driverless systems. This paper proposes a new modelpredictive steering control scheme, specifically designed for semi-autonomous,teleoperated road vehicles. The controller is capable of receiving teleoperatorsteering commands and, in the case of potential collisions, automaticallycorrecting these commands. Collision avoidance is incorporated into the designusing potential fields. A term in the cost function facilitates naturalmaneuvers, and constraints on the maximum potential keep the vehicle at safedistances from obstacles. This paper also proposes the use of high-orderellipses as a method to accurately model rectangular obstacles in tight drivingscenarios. Simulation results support the effectiveness of the proposedapproach.

Steer with Me: A Predictive, Potential Field-Based Control Approach for Semi-Autonomous, Teleoperated Road Vehicles