I don't like the term driverless unless there's no remote "driver" as well. It's only level 4 if the car can safely pull over or something like that before it phones home. For example, if Cruise has no safety driver but has to phone home for guidance and/or new paths every 5-15 miles in SF, is that really driverless?
According to the SAE, I think the answer is "yes".
Here is what the SAE says on the topic:
ADS-Dedicated Vehicle (ADS-DV)
A vehicle designed to be operated exclusively by a level 4 or level 5 ADS for all trips within its given ODD limitations (if any).
NOTE 2: An ADS-DV is a truly “driverless” vehicle. However, the term “driverless vehicle” is not used herein because it has been, and continues to be, widely misused to refer to any vehicle equipped with a driving automation system, even if that system is not capable of always performing the entire DDT (within given ODD limitations, if any) and thus requires a (human) driver for all or part of a given trip (see Section 7). Instead, this document defines the term “driverless operation,” which encourages specificity in usage to avoid imprecision and misunderstanding.
NOTE 4: ADS-DVs might be operated temporarily by a conventional or remote driver: (1) to manage transient deviations from the ODD, (2) to address a system failure, or (3) while in a marshalling yard before or after being dispatched.
REMOTE DRIVER
A driver who is not seated in a position to manually exercise in-vehicle braking, accelerating, steering, and transmission gear selection input devices (if any) but is able to operate the vehicle.
NOTE 1: A remote driver can include a user who is within the vehicle, within line of sight of the vehicle, or beyond line of sight of the vehicle.
NOTE 2: A remote driver is not the same as a driverless operation dispatcher (see 3.29.4), although a driverless operation dispatcher may become a remote driver if s/he has the means to operate the vehicle remotely.
NOTE 3: A remote driver does not include a person who merely creates driving-relevant conditions that are sensed by, or communicated to, the ADS (e.g., a police officer who announces over a loudspeaker that a particular stop sign should be ignored; another driver who flashes her head lamps to encourage overtaking, or a pedestrian using a dedicated short range communication (DSRC) system to announce her presence).
EXAMPLE 1: A level 2 automated parking feature allows the remote driver to exit the vehicle near an intended parking space and to cause the vehicle to move into the parking space automatically by pressing and holding a special button on the key fob, while s/he is monitoring the driving environment to ensure that no one and nothing enters the vehicle pathway during the parking maneuver. If, during the maneuver, a dog enters the pathway of the vehicle, the remote driver releases the button on the key fob in order to cause the vehicleto stop automatically. (Note that the remote driver in this level 2 example completes the OEDR subtask of the DDT during the parking maneuver.)
EXAMPLE 2: Identical situation to Example 1, except that the remote driver is sitting in the back seat, rather than standing outside the vehicle.
EXAMPLE 3: A level 4 closed campus delivery vehicle that has experienced a DDT performance-relevant system failure, which forced it to resort to a minimal risk condition by parking on the side of a campus roadway, is returned to its designated marshalling yard by a remote driver who is able to operate the vehicle using wireless means.
