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Unmanned ground vehicles (UGVs) in unstructured environments mostly operatethrough teleoperation. To enable stable teleoperated driving in unstructuredenvironments, some research has suggested driver assistance and evaluationmethods that involve user studies, which can be costly and require lots of timeand effort. A simulation model-based approach has been proposed to complementthe user study; however, the models on teleoperated driving do not account forunstructured environments. Our proposed solution involves simulation models ofteleoperated driving for drivers that utilize a deep generative model.Initially, we build a teleoperated driving simulator to imitate unstructuredenvironments based on previous research and collect driving data from drivers.Then, we design and implement the simulation models based on a conditionalvariational autoencoder (CVAE). Our evaluation results demonstrate that theproposed teleoperated driving model can generate data by simulating the driverappropriately in unstructured canyon terrains.

Generative Model-based Simulation of Driver Behavior when Using Control Input Interface for Teleoperated Driving in Unstructured Canyon Terrains