  Given its increasing popularity in recent years, teleoperation technology is
now recognized as a robust fallback solution for Automated Driving (AD). Remote
Assistance (RA) represents an event-driven class of teleoperation with a
distinct division of tasks between the Autonomous Vehicle (AV) and the remote
human operator. This paper presents a novel approach for RA of AVs in urban
environments. The concept draws inspiration from the potential synergy between
highly-automated systems and human operators to collaboratively solve complex
driving situations. Utilizing a hybrid algorithm that makes use of the
Operational Design Domain (ODD) modification idea, it considers actions that go
beyond the nominal operational space. Combined with the advanced cognitive
reasoning of the human remote operator, the concept offers features that hold
the potential to significantly improve both RA and AD user experiences.
