Remote control system and self-driving system

A self-driving system comprising an autonomously driving vehicle and a remote control system able to remotely control the vehicle, wherein

• the remote control system comprises:
• a communication device able to communicate with the vehicle;
• an input device to be operated by an operator for intervening in control of the vehicle;
• a margin calculating part configured to calculate an operator intervention margin showing a possibility of an operator being able to intervene in control of the vehicle, and
• an instructing part configured to send the vehicle instructions relating to control of the vehicle through the communication device;
• and
• the instructing part is configured to send the vehicle instructions from the operator when the input device is operated by the operator and send the vehicle an instruction for changing a driving plan of the vehicle when the operator intervention margin is equal to or less than a predetermined value.

A remote control system able to remotely control an autonomously driving vehicle, comprising:

• a communication device able to communicate with the vehicle;
• an input device to be operated by an operator for intervening in control of the vehicle;
• and
• an electronic control unit, wherein
• the electronic control unit is configured to calculate an operator intervention margin showing a possibility of an operator being able to intervene in control of the vehicle;
• send the vehicle instructions relating to control of the vehicle through the communication device, send the vehicle instructions from the operator when the input device is operated by the operator, and send the vehicle an instruction for changing a driving plan of the vehicle when the operator intervention margin is equal to or less than a predetermined value.