When a subject vehicle having an autonomous travel control function is remotely operated with a remote operation device, detected coordinate information indicating a temporal transition in detected coordinates of a gesture detected by a touch panel of the controller is acquired, and the change amount of a physical change occurring on the remote operation device is detected to acquire operation device transition information indicating a temporal transition in the change amount. Then, the frequency characteristics of the detected coordinate information are compared with the frequency characteristics of the operation device transition information to determine whether or not there is correlation, and when there is correlation, the subject vehicle is controlled to execute autonomous travel control.