Remote monitoring system, remote monitoring program, remote monitoring method, vehicle-side device, and data processing server

Abstract

The present invention relates to a remote monitoring system capable of reducing development manhours and transmitting data of a test vehicle in real time to a data processing server, the remote monitoring system being for monitoring a test vehicle V having an advanced driver-assistance system or an autonomous driving system from a remote operation center OS. The remote monitoring system includes: a data processing server that exchanges data with the operation center OS; a plurality of exterior sensors retrofitted to the test vehicle V apart from a vehicle sensor V1 of the test vehicle V; and a data processing device installed in the test vehicle V to exchange data with the data processing server, the data processing device including a data acquisition unit that acquires data during road travelling from the plurality of exterior sensors and the test vehicle V, a data extraction unit that sets a data extraction range on the basis of a data request received from the data processing server and extracts a part of the data, and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server.

Description

Technical Field

[0001] The present invention relates to a remote monitoring system, a remote monitoring method, a vehicle-side device used in the remote monitoring system, and a data processing server used in the remote monitoring system for remotely monitoring a test vehicle having an advanced driver assistance system or an autonomous driving system.

Background Art

[0002] In recent years, the need for advanced driver assistance systems (ADAS) or autonomous driving systems (AD) has been increasing, and their applications are expanding to various automobiles.

[0003] In the development of vehicles having this ADAS or AD, in order to evaluate the driving states on roads under various conditions, a road driving test over a huge distance is required. In this road driving test, various data are collected and analyzed using a data logger mounted on the test vehicle. Further, in order to extract problems (for example, abnormalities such as malfunction or non-operation of sensors, etc.) of the test vehicle during road driving, not only drivers but also engineers such as vehicle developers are on board.

[0004] However, various data collected by the in-vehicle data logger are analyzed offline, and various data cannot be analyzed in real time. Further, since the road driving test takes a long time, there is a problem that it takes a lot of man-hours for development when engineers are on board.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, the present invention has been made to solve the above-described problems, and its main object is to enable data of a test vehicle to be transmitted to a data processing server in real time and to reduce the man-hours required for developing the test vehicle or its components.

Means for Solving the Problems

[0007] That is, the remote monitoring system according to the present invention is a remote monitoring system for monitoring a test vehicle having an advanced driver assistance system or an autonomous driving system at a remote operation center, including a data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle, and a data processing device that is mounted on the test vehicle and exchanges data with the data processing server. The data processing device includes a data acquisition unit that acquires data during on-road driving from the plurality of external sensors and the test vehicle, a data extraction unit that receives a data request from the data processing server, sets a data extraction range based on the data request, and extracts a part of the data, and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server.

[0008] With such a remote monitoring system, based on a data request from a data processing server, a part of the data of a plurality of external sensors and the test vehicle is extracted, and the extracted data is transmitted to the data processing server. Therefore, the capacity of the data to be transmitted can be suppressed, and the data can be transmitted to the data processing server in real time. Since the data can be transmitted to the data processing server in real time in this way, it is possible to remotely grasp and analyze the situation of the test vehicle without an engineer on board the test vehicle, and the man-hours required for development can also be reduced.

[0009] It is desirable that the data processing server includes a data request reception unit that receives a data request input from an operator, and a data request transmission unit that transmits the data request received by the data request reception unit to the data processing device. Here, as types of data requests, the running position of the vehicle, running time, running conditions, test vehicle data, retrofitted external sensor data, etc. can be considered. With such a configuration, the operator on the operation center side can remotely set the data desired by the operator.

[0010] In the remote monitoring system of the present invention, in order to automatically determine the occurrence of abnormalities such as misdetection, non-detection of vehicle sensors, or malfunction or non-operation of the system, and reduce the burden on the operator on the operation center side, the external sensor data acquired from the plurality of external sensors and the vehicle sensor data acquired from the vehicle sensors are compared, and it is desirable to further include a data determination unit that determines whether a data inconsistency has occurred based on the difference between the external sensor data and the vehicle sensor data.

[0011] In order to notify the operator on the operation center side in real time that an abnormality such as misdetection, non-detection of a vehicle sensor, or malfunction or non-operation of the system has occurred, it is desirable that the data transmission unit transmits an alert signal indicating that to the data processing server when a data inconsistency has occurred by the data determination unit.

[0012] When an abnormality such as misdetection, non-detection of a vehicle sensor, or malfunction or non-operation of the system occurs, it is necessary to analyze the abnormality. For this purpose, it is desirable that the data extraction unit extracts the data in which the inconsistency has occurred when a data inconsistency has occurred by the data determination unit.

[0013] Furthermore, in the remote monitoring system of the present invention, in order to be able to analyze data when the test vehicle exhibits a predetermined behavior, it is desirable to further include a behavior detection unit that compares the external sensor data acquired from the plurality of external sensors or the vehicle sensor data acquired from the vehicle sensors with a predetermined threshold value to detect the predetermined behavior of the test vehicle.

[0014] In order to notify the operator on the operation center side in real time that the test vehicle has exhibited a predetermined behavior, it is desirable that the data transmission unit transmits a detection signal indicating that fact to the data processing server when a predetermined behavior is detected by the behavior detection unit.

[0015] When the test vehicle exhibits a predetermined behavior, in order to analyze the data when the predetermined behavior occurs, it is desirable that the data extraction unit extracts the data in which the behavior is detected when a predetermined behavior is detected by the behavior detection unit.

[0016] In order to transmit data without delay in wireless communication such as a cellular network, it is desirable that the data extraction unit compresses the data volume of the extracted data or transmits the data at a sampling frequency lower than the sampling frequency of the vehicle sensor or the external sensor.

[0017] The remote monitoring program according to the present invention is a program used in a remote monitoring system for remotely monitoring a test vehicle having an advanced driving assistance system or an autonomous driving system at a remote operation center. The remote monitoring system includes a data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle, and a data processing device that is mounted on the test vehicle and exchanges data with the data processing server. The program causes the data processing device to function as a data acquisition unit that acquires data during on-road driving from the plurality of external sensors and the test vehicle, a data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data, and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server.

[0018] Furthermore, the remote monitoring method according to the present invention is a remote monitoring method for remotely monitoring a test vehicle having an advanced driving assistance system or an autonomous driving system at a remote operation center. The method uses a data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle, and a data processing device that is mounted on the test vehicle and exchanges data with the data processing server. The method includes acquiring data during on-road driving from the plurality of external sensors and the test vehicle, setting a data extraction range based on a data request received from the data processing server and extracting a part of the data, and a data transmission unit that transmits the extracted data to the data processing server.

[0019] In addition, the vehicle-side device according to the present invention is a vehicle-side device used in a remote monitoring system for monitoring a test vehicle having an advanced driver assistance system or an automated driving system at a remote operation center via a data processing server. The vehicle-side device includes a plurality of external sensors retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle, and a data processing device mounted on the test vehicle for communicating data with the data processing server. The data processing device includes: a data acquisition unit that acquires data during on-road driving from the plurality of external sensors and the test vehicle; a data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data; and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server.

[0020] In addition, the data processing server according to the present invention constitutes the remote monitoring system together with the above-described vehicle-side device, and includes a data request reception unit that receives a data request input from an operation center, and a data request transmission unit that transmits the data request received by the data request reception unit to the data processing device.

Advantages of the Invention

[0021] According to the present invention configured as described above, it becomes possible to transmit the data of the test vehicle to the data processing server in real time, and an engineer can perform real-time remote data analysis without riding in the test vehicle, so that the development man-hours can be reduced.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Explanation of Signs

[0023] 100 ··· Remote monitoring system V ··· Test vehicle V1 ··· Vehicle sensor DS ··· Data center OS ··· Operation center 2 ··· Data processing server 21 ··· Data request reception unit 22 ··· Data request transmission unit 3 ··· External sensor 4 ··· Data processing device 41 ··· Data acquisition unit 42 ··· Data request reception unit 43 ··· Data extraction unit 44 ··· Data transmission unit 46 ··· Data judgment unit 47 ··· Behavior detection unit

Mode for Carrying Out the Invention

[0024] Hereinafter, an embodiment of a remote monitoring system for a test vehicle according to the present invention will be described with reference to the drawings.

[0025] <Device Configuration> The remote monitoring system 100 of this embodiment monitors in real time a test vehicle V having an advanced driver-assistance system (ADAS) or an autonomous driving system (AD) at a remote operation center OS via a remote data center DS. Here, the remote monitoring system 100 is used, for example, to collect and analyze data from a plurality of test vehicles V running on roads around the world (field tests) in real time.

[0026] Specifically, as shown in FIG. 1, the remote monitoring system 100 includes an operation center OS monitored by an operator, a data center DS that exchanges data with the operation center OS, and a vehicle-side device VE that exchanges data with the data center DS.

[0027] The operation center OS has a computer 5 operated by an operator. The operator can monitor data from the data center DS via the computer 5. Note that the computer 5 of the operation center OS can exchange data with the data center DS or the vehicle-side device VE via a communication line INT. Note that the operation center OS and the data center DS may be physically separated or in the same location. Also, there may be a plurality of data centers DS or operation centers OS. Also, a plurality of operation center OSs or computers 5 may be connected to one data center DS.

[0028] The data center DS has a data processing server 2. This data processing server 2 is a server having a CPU, a storage, an input processing unit, a GUI (Graphical User Interface), etc., and functions as a data request reception unit 21, a data request transmission unit 22, etc. based on a request from the operation center OS.

[0029] The vehicle-side device VE includes a plurality of external sensors 3 that are retrofitted to the test vehicle V separately from the vehicle sensor V1 of the test vehicle V, and a data processing device 4 that is mounted on the test vehicle V and exchanges data with the data processing server 2 of the data center DS via a communication line INT.

[0030] The data request receiving unit 21 receives a data request input by an operator using an input device (a computer of the operation center OS). Here, the type of data request is to specify data requested in real time, such as the driving position of the vehicle (e.g., driving area, driving elevation, etc.), driving time (e.g., morning, afternoon, from XX:XX to XX:XX, etc.), driving conditions (e.g., speed range such as a speed of XX km / h or more, presence or absence of people or obstacles, presence or absence of white lines, presence or absence of hard braking), etc. Note that the data request receiving unit 21 also receives the designation of the test vehicle V for which data is requested.

[0031] The data request transmitting unit 22 transmits the data request received by the data request receiving unit 21 to the data processing device 4 mounted on the designated test vehicle V.

[0032] The plurality of external sensors 3 retrofitted to each test vehicle V may be of the same type as the vehicle sensor V1 built into the test vehicle V, or may be different. The external sensor 3 of this embodiment is an inertial measurement unit (IMU) that detects three-dimensional angular velocity and acceleration, GNSS (Global Navigation Satellite System / Global Positioning Satellite System), an imaging camera that images the inside or outside of the test vehicle, and a LiDAR that detects obstacles around the test vehicle. Here, based on the detection signals of the inertial measurement device, speed hunting, left-right wobbling during straight driving, left-right wobbling during curve driving, acceleration / deceleration stability, acceleration, deceleration, lateral acceleration, etc. can be detected. Also, as the imaging camera that images the outside of the test vehicle V, both a wide-angle camera (a camera having a wide-angle lens) and / or a narrow-angle camera (a camera having a narrow-angle lens) can be used. In addition, as the external sensor 3, a millimeter-wave radar, a far-infrared camera, an ultrasonic sonar, etc. may be used.

[0033] Here, the external sensor 3 can be used to detect abnormalities such as malfunction or non-operation of the vehicle sensor V1 built in the test vehicle V. When the external sensor 3 and the vehicle sensor V1 are the same type of sensor, it is desirable to use the external sensor 3 with higher accuracy than the vehicle sensor V1.

[0034] The data processing device 4 mounted on each test vehicle V is a computer having a CPU, a memory, an input / output interface -port, an AD converter, a communication device, etc. Based on the program stored in the memory, as shown in FIG. 2, it functions as a data acquisition unit 41, a data request reception unit 42, a data extraction unit 43, a data transmission unit 44, etc.

[0035] The data acquisition unit 41 acquires data during on-road driving in real time from a plurality of external sensors 3 and the test vehicle V. Here, the data acquisition unit 41 acquires data from the vehicle sensor V1 mounted on the test vehicle V via an in-vehicle network such as CAN (Controller Area Network) mounted on the test vehicle V. In this embodiment, various data acquired by the data acquisition unit 41 are stored in the data storage unit 45.

[0036] The data request receiving unit 42 receives the data request transmitted from the data request transmitting unit 22 of the data processing server 2. Then, the data request receiving unit 42 sends the received data request to the data extraction unit 43. Note that, prior to receiving the data request, the data processing device 4 transmits at least one of the vehicle speed or position data to the data center DS in real time as the minimum data, and the operation center OS can monitor the minimum data in real time.

[0037] The data extraction unit 43 sets a data extraction range based on the data request received by the data request receiving unit 42, and extracts a part of the data in real time. Then, the data extraction unit 43 sends the extracted data to the data transmission unit 44.

[0038] Here, the data extraction unit 43 compresses the data capacity of the data to be extracted, or processes the data at a sampling frequency lower than the sampling frequency of the vehicle sensor V1 or the external sensor 3 (low sampling). Thereby, the data capacity transmitted from the data processing device 4 to the data processing server 2 of the data center DS is reduced.

[0039] In addition to setting the data range based on the data request received by the data request receiving unit 42, the data extraction unit 43 may have a function of extracting only a predetermined data range. At this time, the predetermined data range may be compressed or low-sampled. Also, in addition to extracting the set data range, the data extraction unit 43 may have a function of compressing or low-sampling without extracting the data of the external sensor 3 and the vehicle sensor V1 based on the data range.

[0040] The data transmission unit 44 transmits the data extracted by the data extraction unit 43 to the management server 2 of the data center DS in real time. As shown in FIG. 1, the data transmitted from the data transmission unit 44 is received by the data reception unit 23 of the data processing server 2 and displayed on a display device (not shown) of the data processing server 2. Further, the data received by the data reception unit 23 of the data processing server 2 is stored in the data storage unit 24 of the data processing server 2.

[0041] The data extraction and data transmission in the data processing device 4 are performed in real time while the test vehicle V is running, and the operator in the operation center OS can monitor or analyze the data transmitted in real time while the test vehicle V is running.

[0042] In addition to the configuration of transmitting data in real time from a running test vehicle, the remote monitoring system 100 of the present embodiment may also be configured to extract data in response to a request from an operator and transmit it to the data processing server 2 of the data center DS even when a running test is not being performed, such as when the test vehicle is stopped.

[0043] In addition, as shown in FIG. 3, it can also be configured such that the full-size data of various sensors stored in the data storage unit 45 of the data processing device 4 can be transmitted to the data processing server 2 of the data center DS by wireless communication such as WiFi or wired communication such as LAN.

[0044] <Advantages of the present embodiment> With such a remote monitoring system 100, based on a data request from the data processing server 2 of the data center DS, a part of the data of the plurality of external sensors 3 and the test vehicle V is extracted, and the extracted data is transmitted to the data processing server 2. Therefore, the capacity of the data to be transmitted can be suppressed, and the data can be transmitted to the data processing server 2 in real time. Further, since the data can be transmitted to the data processing server 2 in real time, it is not necessary for an engineer to ride in the test vehicle V, and the development man-hours can also be reduced.

[0045] <Other Embodiments> Note that the present invention is not limited to the above-described embodiments.

[0046] For example, in addition to the configuration of the above-described embodiment, as shown in FIG. 4, the data processing device 4 may further include a data determination unit 46. This data determination unit 46 compares the external sensor data acquired from a plurality of external sensors 3 with the vehicle sensor data acquired from the vehicle sensor V1, and determines whether a data discrepancy has occurred based on the difference between the external sensor data and the vehicle sensor data.

[0047] In this configuration, the data transmission unit 44 may be configured to transmit an alert signal indicating this to the data processing server 2 of the data center DS when a data discrepancy has occurred according to the data determination unit 46. By transmitting the alert signal to the data processing server 2 of the data center DS in this way, the operator can recognize in real time abnormalities such as misdetection or non-detection of the vehicle sensor V1. Here, the data determination unit 46 can also determine a data discrepancy between the same type of vehicle sensor V1 and the external sensors 3 (for example, between LiDARs), or a data discrepancy between different vehicle sensors V1 and the external sensors 3 (for example, between an in-vehicle camera and LiDAR).

[0048] Also, the data extraction unit 43 may be configured to extract the abnormal data (various data before and after including the time point of the discrepancy) in which the discrepancy has occurred when a data discrepancy has occurred according to the data determination unit 46. With this configuration, in response to a data request from the operator who has recognized the abnormality of the vehicle sensor V1 by the above alert signal, it can be transmitted without delay. Also, it may be automatically transmitted to the data processing server 2 by the data transmission unit 44 without a data request from the operator.

[0049] Furthermore, in addition to the configuration of the above-described embodiment, as shown in FIG. 5, the data processing device 4 may further include a behavior detection unit 47. This behavior detection unit 47 compares the external sensor data acquired from a plurality of external sensors 3 or the vehicle sensor data acquired from the vehicle sensor V1 with a predetermined threshold value to detect a predetermined behavior of the test vehicle V.

[0050] In this configuration, when a predetermined behavior is detected by the behavior detection unit 47, the data transmission unit 44 may be configured to transmit a behavior detection signal indicating this to the data processing server 2 of the data center. By transmitting the behavior detection signal to the data processing server 2 of the data center in this way, the operator can recognize the predetermined behavior of the test vehicle V in real time. An example of a predetermined behavior is as shown in FIG. 6, and a predetermined unexpected behavior is set for each of the assumed operations. Here, the predetermined unexpected behavior can be detected by a combination of the data of one or more sensors 3 and V1. For example, when the test vehicle V is traveling at a constant speed and there is a variation in the vehicle speed, the behavior detection unit 47 detects speed fluctuation as an unexpected behavior.

[0051] Also, when a predetermined behavior is detected by the behavior detection unit 47, the data extraction unit 43 may be configured to extract the behavior data (various data before and after including the detection time point) in which the behavior is detected. With this configuration, in response to a data request from the operator who has recognized the predetermined behavior of the test vehicle V by the above-described behavior detection signal, it can be transmitted without delay. Also, it can be automatically transmitted to the data processing server 2 by the data transmission unit 44 without a data request from the operator.

[0052] In addition, it may be configured so that an operation mode that the driver is desired to reproduce can be requested from the data processing server 2 of the data center DS. In this case, an operation mode request is input from the operator to the data processing server 2 of the data center DS. Then, this operation mode request is transmitted to the data processing device 4. The operation mode request transmitted to the data processing device 4 is displayed, for example, on a display visible to the driver.

[0053] Furthermore, the data processing server 2 of the data center DS may analyze data such as, for example, image data stored in or to be stored in the data storage unit 45 using artificial intelligence for labeling, tagging, etc.

[0054] Also, the data (for example, image data, Rader data, LiDAR data, etc.) collected according to the above embodiment can be reproduced on the test bench, and the vehicle can be configured so that countermeasures for problems on public roads can be implemented on the test bench.

[0055] Needless to say, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit thereof.

Industrial Applicability

[0056] According to the present invention, data of the test vehicle can be transmitted to the data processing server in real time, and an engineer can remotely analyze the data in real time without riding in the test vehicle, so that the development man-hours can be reduced.

Claims

1. A remote monitoring system for monitoring a test vehicle having an advanced driving assistance system or an autonomous driving system at a remote operation center, comprising: a data processing server that exchanges data with the operation center; a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle and are configured to detect anomalies including false detections, non-detections, malfunction, or inoperability of the vehicle sensors; a data processing device mounted on the test vehicle that exchanges data with the data processing server; the data processing device includes: a data acquisition unit that acquires data during on-road driving from the plurality of external sensors and the test vehicle; a behavior detection unit that compares external sensor data acquired from the plurality of external sensors or vehicle sensor data acquired from the vehicle sensors with a predetermined threshold value to detect a predetermined behavior of the test vehicle; a data determination unit that compares the external sensor data and the vehicle sensor data and determines whether a data inconsistency has occurred based on the difference between the external sensor data and the vehicle sensor data; a data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data; a data transmission unit that, when a predetermined behavior is detected by the behavior detection unit or when a data inconsistency has occurred according to the data determination unit, transmits a signal indicating this to the data processing server; the data extraction unit extracts data in which the behavior is detected when a predetermined behavior is detected by the behavior detection unit, and extracts data in which the inconsistency has occurred when a data inconsistency has occurred according to the data determination unit; the data transmission unit transmits the data extracted by the data extraction unit to the data processing server for analyzing anomalies including false detections, non-detections, malfunction, or inoperability of the vehicle sensors at the operation center. A remote monitoring system.

2. The data processing server includes: a data request reception unit that receives a data request input from an operator center; The remote monitoring system according to claim 1, further comprising: a data request transmission unit that transmits the data request received by the data request reception unit to the data processing device.

3. The data extraction unit compresses the data volume of the data to be extracted, or extracts data at a sampling frequency lower than the sampling frequency of the vehicle sensor or the external sensor. The remote monitoring system according to claim 1 or 2.

4. A program used in a remote monitoring system for monitoring a test vehicle having an advanced driver assistance system or an autonomous driving system at a remote operation center, The remote monitoring system includes a data processing server that exchanges data with the operation center, and a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle and detect abnormalities including false detection, non-detection, malfunction, or inoperability of the vehicle sensors, and a data processing device that is mounted on the test vehicle and exchanges data with the data processing server. The program causes the data processing device to function as a data acquisition unit that acquires data during road driving from the plurality of external sensors and the test vehicle, a behavior detection unit that compares the external sensor data acquired from the plurality of external sensors or the vehicle sensor data acquired from the vehicle sensors with a predetermined threshold value to detect a predetermined behavior of the test vehicle, a data determination unit that compares the external sensor data and the vehicle sensor data and determines whether a data discrepancy has occurred based on the difference between the external sensor data and the vehicle sensor data, a data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data, and a data transmission unit that transmits a signal indicating that a predetermined behavior has been detected by the behavior detection unit or that a data discrepancy has occurred by the data determination unit to the data processing server. When a predetermined behavior is detected by the behavior detection unit, the data extraction unit extracts the data in which the behavior is detected, and when a data discrepancy has occurred by the data determination unit, the data extraction unit extracts the data in which the discrepancy has occurred. The data transmission unit transmits the data extracted by the data extraction unit to the data processing server for analyzing abnormalities including false detection, non-detection, malfunction, or inoperability of the vehicle sensors at the operation center. A program for remote monitoring.

5. A remote monitoring method for monitoring a test vehicle having an advanced driver assistance system or an autonomous driving system at a remote operation center, using a data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle and detect abnormalities including false detection, non-detection, malfunction, or non-operation of the vehicle sensors, and a data processing device that is mounted on the test vehicle and exchanges data with the data processing server. acquiring data during on-road driving from the plurality of external sensors and the test vehicle; comparing the external sensor data acquired from the plurality of external sensors or the vehicle sensor data acquired from the vehicle sensors with a predetermined threshold value to detect a predetermined behavior of the test vehicle; comparing the external sensor data and the vehicle sensor data to determine whether a data inconsistency has occurred based on the difference between the external sensor data and the vehicle sensor data; when the predetermined behavior is detected or when an inconsistency occurs between the external sensor data and the vehicle sensor data, sending a signal indicating this to the data processing server; setting a data extraction range based on a data request received from the data processing server, extracting a part of the data, and when the predetermined behavior is detected, extracting the data in which the behavior is detected, and when an inconsistency occurs between the external sensor data and the vehicle sensor data, extracting the data in which the inconsistency occurs; A remote monitoring method of transmitting the extracted data to the data processing server for analyzing abnormalities including false detection, non-detection, malfunction, or non-operation of the vehicle sensors at the operation center. **Claim 6** A vehicle-side device used in a remote monitoring system for monitoring a test vehicle having an advanced driver assistance system or an autonomous driving system at a remote operation center via a data processing server, comprising a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle and detect abnormalities including false detection, non-detection, malfunction, or non-operation of the vehicle sensors, and a data processing device that is mounted on the test vehicle and exchanges data with the data processing server. The data processing device A data acquisition unit that acquires data during on-road driving from the plurality of external sensors and the test vehicle; A behavior detection unit that compares the external sensor data acquired from the plurality of external sensors or the vehicle sensor data acquired from the vehicle sensors with a predetermined threshold value to detect a predetermined behavior of the test vehicle; A data determination unit that compares the external sensor data and the vehicle sensor data and determines whether a data discrepancy has occurred based on the difference between the external sensor data and the vehicle sensor data; A data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data; A data transmission unit that transmits a signal indicating that when a predetermined behavior is detected by the behavior detection unit or when a data discrepancy has occurred by the data determination unit, to the data processing server, and The data extraction unit extracts the data in which the behavior is detected when a predetermined behavior is detected by the behavior detection unit, and extracts the data in which the discrepancy has occurred when a data discrepancy has occurred by the data determination unit; The data transmission unit is a vehicle-side device that transmits to the data processing server for analyzing an abnormality including false detection, non-detection, malfunction, or non-operation of the vehicle sensor at the operation center.

7. A data processing server that constitutes the remote monitoring system together with the vehicle-side device according to Claim 6, A data request reception unit that receives a data request input from an operator center; A data processing server comprising a data request transmission unit that transmits the data request received by the data request reception unit to the data processing device.

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