  Teleoperation is a popular solution to remotely support highly automated
vehicles through a human remote operator whenever a disengagement of the
automated driving system is present. The remote operator wirelessly connects to
the vehicle and solves the disengagement through support or substitution of
automated driving functions and therefore enables the vehicle to resume
automation. There are different approaches to support automated driving
functions on various levels, commonly known as teleoperation concepts. A
variety of teleoperation concepts is described in the literature, yet there has
been no comprehensive and structured comparison of these concepts, and it is
not clear what subset of teleoperation concepts is suitable to enable safe and
efficient remote support of highly automated vehicles in a broad spectrum of
disengagements. The following work establishes a basis for comparing
teleoperation concepts through a literature overview on automated vehicle
disengagements and on already conducted studies on the comparison of
teleoperation concepts and metrics used to evaluate teleoperation performance.
An evaluation of the teleoperation concepts is carried out in an expert
workshop, comparing different teleoperation concepts using a selection of
automated vehicle disengagement scenarios and metrics. Based on the workshop
results, a set of teleoperation concepts is derived that can be used to address
a wide variety of automated vehicle disengagements in a safe and efficient way.
