Teleoperated driving is an important approach for efficient lunar rover exploration. However， communication delays may cause a temporal mismatch between environmental perception and command execution， increasing safety risks during rover operation. To address this problem， this paper proposes an incremental lunar orthophoto map stitching and risk anticipation method for continuous teleoperated driving. Considering the near-field blind zones of lunar rovers， discontinuous environmental representation across successive fields of view， and the vulnerability of image features under weak texture and strong illumination variations， an incremental orthophoto mapping framework is developed. The framework integrates stereo reconstruction， local orthophoto generation， multi-frame point cloud registration， and incremental fusion to achieve coordinated stitching of terrain geometry and image texture， as well as continuous environmental map updating. Furthermore， terrain slope， roughness， and texture information are fused to construct a risk cost map， which is overlaid with rover trajectory and heading information to generate a motion-aware situational map. Experimental results show that the proposed method can stably generate orthophoto preview maps with good geometric consistency and spatial continuity in complex lunar surface environments， providing intuitive and continuous risk anticipation support for ground-based lunar rover teleoperation.