<p>This study focuses on the development and validation of a Tele-Operated Driving (ToD) assistance system aimed at improving the remote operation of autonomous vehicles, particularly in the event of autonomous system failures. This system employs indirect control, enabling operators to set waypoints or routes while the vehicle’s onboard system manages the detailed driving tasks. Built on an open-source platform, it ensures flexibility and adaptability for a wide range of autonomous driving applications. It was tested at the C-track testbed in Cheongju, where it exhibited high driving stability and control accuracy across various driving conditions, including sharp turns and emergency stops. The ToD assistance system proved capable of maintaining reliable performance and demonstrated its potential for real-world applications. While the system showed promise, future work will focus on enhancing its adaptability to more complex road environments by improving map accuracy and optimizing control mechanisms. Additional testing under diverse conditions will be crucial to ensuring the system’s versatility and supporting the commercialization of autonomous driving technologies.</p>