Vehicle Teleoperation: Human in the Loop Performance Comparison of Smith Predictor with Novel Successive Reference-Pose Tracking Approach

• Improved Drivability and Safety: SRPT approach enhances vehicle control and safety in path following and sudden-obstacle-avoidance scenarios through innovative reference pose transmission.
• Effective Human-in-the-loop Evaluation: Simulations with 17 volunteers demonstrate better performance and confidence using SRPT mode under various conditions, including wet terrain and strong crosswind.