  In parallel with the advancement of Automated Driving (AD) functions,
teleoperation has grown in popularity over recent years. By enabling remote
operation of automated vehicles, teleoperation can be established as a reliable
fallback solution for operational design domain limits and edge cases of AD
functions. Over the years, a variety of different teleoperation concepts as to
how a human operator can remotely support or substitute an AD function have
been proposed in the literature. This paper presents the results of a
literature survey on teleoperation concepts for road vehicles. Furthermore, due
to the increasing interest within the industry, insights on patents and overall
company activities in the field of teleoperation are presented.
