This paper presents a remote driving system for tractor-trailer vehicles based on predictive display. The vehicle’s predicted trajectory is superimposed onto the delayed camera image stream by wire frame and presented to the driver wearing a head-mounted display. Predictive display helps the driver to compensate for delayed response of the vehicle as well as to intuitively grasp the spatial relationship between the vehicle and its surroundings. The effectiveness of the developed remote driving system was evaluated with human subjects through tasks simulating different scenes of transportation. The results showed that both efficiency and safety of driving were improved by predictive display.

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