Remote assistance apparatus, remote assistance system, program, and remote assistance method

A remote assistance method in which a vehicle works to obtain image information including an image of a surround view of a target vehicle which is captured by an image capturing device and transmits the image information to a remote assistance device, to receive control information from the remote assistance device to control an operation of the target vehicle using the control information, and to generate linking information which links the image information with the control information provided when the image was captured and transmit the linking information to the remote assistance device, and

• in which the remote assistance device works to obtain, from the target vehicle, the image information representing the image of the surround view of the target vehicle, to cyclically produce control information including a controlled variable which is created by an operation input from a remote driver to control a given operation of the target vehicle, to transmit the control information to the target vehicle, to obtain the linking information which links the image information with the control information provided when the image was captured, to analyze the linking information to identify the control information which was provided when the image was captured and pertains to the image shown on a display, and to overlay an auxiliary image on the image shown on the display, the auxiliary image including at least the controlled variable provided when the image was captured in the target vehicle and being used for assisting the remote driver in remotely maneuvering the target vehicle.