Autonomous driving technologies have dramatically progressed these years. One of the challenges to autonomous driving is disengagement caused by unexpected situations such as occurrences of construction sites, passing of emergency vehicles. In case of disengagements, autonomous vehicles with no driver stall and prevent passage of the other vehicles. Remote driving is proposed to resolve stall of autonomous vehicle because of disengagement and can make recovery time of a disengaged autonomous vehicle shorter than the other approaches such as roadside assistance service. In this paper, we propose driving support information display scheme to improve safety in remote driving with delayed cellular communication. In the proposed scheme, an oncoming trajectory and a vehicle speed are displayed on the video sent from the on-vehicle camera for remote driving. We prototyped the remote driving system which was implemented the proposed scheme, and evaluated the effectiveness of the proposed scheme.
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