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Future Tele-operated Driving (ToD) applications place challenging Quality ofService (QoS) demands on existing mobile communication networks that are ofhighly important to comply with for safe operation. New remote control andplatooning services will emerge and pose high data rate and latencyrequirements. One key enabler for these applications is the newly available 5GNew Radio (NR) promising higher bandwidth and lower latency than itspredecessors. In addition to that, public 5G networks do not consistentlydeliver and do not guarantee the required data rates and latency of ToD. Inthis paper, we discuss the communication-related requirements of tele-operateddriving. ToD is regarded as a complex system consisting of multiple researchareas. One key aspect of ToD is the provision and maintenance of the requireddata rate for teleoperation by the mobile network. An in-advance predictionmethod of the end-to-end data rate based on so-called Radio Environmental Maps(REMs) is discussed. Furthermore, a novel approach improving the predictionaccuracy is introduced and it features individually optimized REM layers.Finally, we analyze the implementation of tele-operated driving applications ona scaled vehicular platform combined with a cyber-physical test environmentconsisting of real and virtual objects. This approach enables large-scaletesting of remote operation and autonomous applications.

System Modeling and Performance Evaluation of Predictive QoS for Future Tele-Operated Driving