This document presents a model of human capabilities and limitations for remote support of automated driving systems and associated principles that facilitate safe interactions. Topics include work hand-over, perception and actuation, and passenger management. The focus of this document is the roles of remote monitor and remote assistant where they are beyond the line of sight of the vehicle. The role of remote driver is not included however, the model and principles could be extended to other remote roles with consideration of the additional human requirements. The principles are written generally to support system development and provide guidance on how to evaluate human-automation-environment system performance without specifying any particular implementation. This document is limited to low-speed automated driving. Driver training, licensing, and fitness are not within the scope of this document.