JP7085508B2

JP7085508B2 - Remote monitoring device, computer program and remote monitoring method

Info

Publication number: JP7085508B2
Application number: JP2019044240A
Authority: JP
Inventors: 俊太郎樫原; 智彦大岸
Original assignee: KDDI Corp
Current assignee: KDDI Corp
Priority date: 2019-03-11
Filing date: 2019-03-11
Publication date: 2022-06-16
Anticipated expiration: 2039-03-11
Also published as: JP2020149161A

Description

本発明は、遠隔監視装置、コンピュータプログラム及び遠隔監視方法に関する。 The present invention relates to a remote monitoring device, a computer program and a remote monitoring method.

従来、自動運転車両の警報技術として、例えば特許文献１に記載の技術が知られている。特許文献１に記載の従来技術は、自動運転から手動運転への切り替えの際に、自動運転終了までの残り時間と手動運転開始までに要する準備時間との比較結果に基づいて、ドライバに注意を喚起する警報の出力タイミングを決定している。 Conventionally, as an alarm technique for an autonomous driving vehicle, for example, the technique described in Patent Document 1 is known. The prior art described in Patent Document 1 pays attention to the driver when switching from the automatic operation to the manual operation, based on the comparison result between the remaining time until the end of the automatic operation and the preparation time required for the start of the manual operation. The output timing of the alarm to be evoked is determined.

特開２０１７－１２３０５４号公報Japanese Unexamined Patent Publication No. 2017-123054

しかし、上述した従来技術では、自動運転車両の外部から当該自動運転車両の警報状態を的確に把握することはできない。 However, with the above-mentioned conventional technique, it is not possible to accurately grasp the alarm state of the autonomous driving vehicle from the outside of the autonomous driving vehicle.

本発明は、このような事情を考慮してなされたものであり、その目的は、自動運転車両の警報状態を遠隔で監視する際の精度向上を図ることにある。 The present invention has been made in consideration of such circumstances, and an object of the present invention is to improve the accuracy when remotely monitoring the alarm state of an autonomous driving vehicle.

（１）本発明の一態様は、通信ネットワークを介した通信により自動運転車両の状態を遠隔で監視する遠隔監視装置において、前記自動運転車両から前記遠隔監視装置までの通信経路上の複数の警報発信区間と、各警報発信区間に存在する警報発信元を識別する発信元識別情報とを関連付ける警報区間判定テーブルを記憶する警報区間判定テーブル記憶部と、前記自動運転車両及び前記通信ネットワークから送信される警報信号を前記通信ネットワークを介して受信する警報信号受信部と、前記警報信号受信部が受信した警報信号に含まれる発信元識別情報及び前記警報区間判定テーブルに基づいて、当該警報信号が発信された警報発信区間を判断する警報発信区間判断部と、前記警報発信区間判断部が判断した結果に基づいて、警報の要因が存在する警報要因箇所を判断する警報要因箇所判断部と、前記警報要因箇所判断部が判断した結果の警報要因箇所を示す警報要因箇所情報を出力する警報要因箇所情報出力部と、を備え、前記警報区間判定テーブルは、前記自動運転車両から前記遠隔監視装置までの通信経路が、前記自動運転車両に備わる車載装置群から前記自動運転車両に備わる通信端末までの第１の警報発信区間と、前記通信端末から無線通信ネットワークまでの第２の警報発信区間と、前記無線通信ネットワークから前記遠隔監視装置までの第３の警報発信区間と、に分割され、前記第１の警報発信区間に存在する警報発信元を識別する第１の発信元識別情報と、前記第２の警報発信区間に存在する警報発信元を識別する第２の発信元識別情報と、前記第３の警報発信区間に存在する警報発信元を識別する第３の発信元識別情報と、を格納する、遠隔監視装置である。
（２）本発明の一態様は、前記警報要因箇所情報出力部は、前記第２の警報発信区間からの警報信号を受信した場合には、「警報要因箇所「通信端末」、但し、自動運転車両の車載装置群が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を出力し、前記第３の警報発信区間からの警報信号を受信した場合には、「警報要因箇所「無線通信ネットワーク内のネットワーク装置」、但し、自動運転車両内の車載装置群及び通信端末が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を出力する、上記（１）の遠隔監視装置である。
（３）本発明の一態様は、前記自動運転車両から前記自動運転車両の位置を示す位置情報を受信する位置情報受信部と、前記通信ネットワーク内の各無線通信エリアの通信の状況を示す無線通信状況情報を取得する無線通信状況情報取得部と、前記位置情報及び前記無線通信状況情報に基づいて、警報の要因になり得る無線通信エリアを判断する警報要因無線通信エリア推定部と、前記警報要因無線通信エリア推定部が判断した結果の無線通信エリアを示す警報要因無線通信エリア推定情報を出力する警報要因無線通信エリア推定情報出力部と、をさらに備える上記（１）の遠隔監視装置である。 (1) One aspect of the present invention is a remote monitoring device that remotely monitors the state of an automatically driving vehicle by communication via a communication network, and a plurality of alarms on a communication path from the automatically driving vehicle to the remote monitoring device. It is transmitted from the automatic driving vehicle and the communication network, the alarm section determination table storage unit that stores the alarm section determination table that associates the transmission section with the source identification information that identifies the alarm source that exists in each alarm transmission section. The alarm signal is transmitted based on the alarm signal receiving unit that receives the alarm signal via the communication network, the source identification information included in the alarm signal received by the alarm signal receiving unit, and the alarm section determination table. An alarm transmission section determination unit that determines an alarm transmission section, an alarm factor location determination unit that determines an alarm factor location in which an alarm factor exists based on the result of the determination by the alarm transmission section determination unit, and the alarm. The alarm section determination table includes an alarm factor location information output unit that outputs alarm factor location information indicating an alarm factor location as a result of determination by the factor location determination unit, and the alarm section determination table is from the automatic driving vehicle to the remote monitoring device. The communication path includes a first warning transmission section from the in-vehicle device group provided in the automatic driving vehicle to the communication terminal provided in the automatic driving vehicle, a second warning transmission section from the communication terminal to the wireless communication network, and the above. A first source identification information for identifying an alarm source existing in the first alarm transmission section, which is divided into a third alarm transmission section from the wireless communication network to the remote monitoring device, and the second source identification information. The second source identification information for identifying the alarm source existing in the alarm transmission section of the above and the third source identification information for identifying the alarm source existing in the third alarm transmission section are stored. , A remote monitoring device.
(2) In one aspect of the present invention, when the alarm factor location information output unit receives an alarm signal from the second alarm transmission section, it is "alarm factor location" communication terminal ", but automatic operation. When the alarm factor location information indicating "it is unknown whether or not the in-vehicle device group of the vehicle is the alarm factor location" is output and the alarm signal from the third alarm transmission section is received, the "alarm factor" is output. The above-mentioned ( It is a remote monitoring device of 1).
( 3 ) One aspect of the present invention is a radio indicating a communication status between a position information receiving unit that receives position information indicating the position of the automatically driving vehicle from the automatically driving vehicle and each wireless communication area in the communication network. A wireless communication status information acquisition unit that acquires communication status information, an alarm factor wireless communication area estimation unit that determines a wireless communication area that can be a factor of an alarm based on the location information and the wireless communication status information, and the alarm. Factor The remote monitoring device according to (1) above, further comprising an alarm factor wireless communication area estimation information output unit that outputs wireless communication area estimation information, which indicates an alarm factor indicating the wireless communication area as a result of determination by the wireless communication area estimation unit. ..

（４）本発明の一態様は、通信ネットワークを介した通信により自動運転車両の状態を遠隔で監視する遠隔監視装置のコンピュータに、前記自動運転車両から前記遠隔監視装置までの通信経路上の複数の警報発信区間と、各警報発信区間に存在する警報発信元を識別する発信元識別情報とを関連付ける警報区間判定テーブルを警報区間判定テーブル記憶部に記憶する警報区間判定テーブル記憶ステップと、前記自動運転車両及び前記通信ネットワークから送信される警報信号を前記通信ネットワークを介して受信する警報信号受信ステップと、前記警報信号受信ステップが受信した警報信号に含まれる発信元識別情報及び前記警報区間判定テーブルに基づいて、当該警報信号が発信された警報発信区間を判断する警報発信区間判断ステップと、前記警報発信区間判断ステップが判断した結果に基づいて、警報の要因が存在する警報要因箇所を判断する警報要因箇所判断ステップと、前記警報要因箇所判断ステップが判断した結果の警報要因箇所を示す警報要因箇所情報を出力する警報要因箇所情報出力ステップと、を実行させるためのコンピュータプログラムであって、前記警報区間判定テーブルは、前記自動運転車両から前記遠隔監視装置までの通信経路が、前記自動運転車両に備わる車載装置群から前記自動運転車両に備わる通信端末までの第１の警報発信区間と、前記通信端末から無線通信ネットワークまでの第２の警報発信区間と、前記無線通信ネットワークから前記遠隔監視装置までの第３の警報発信区間と、に分割され、前記第１の警報発信区間に存在する警報発信元を識別する第１の発信元識別情報と、前記第２の警報発信区間に存在する警報発信元を識別する第２の発信元識別情報と、前記第３の警報発信区間に存在する警報発信元を識別する第３の発信元識別情報と、を格納する、コンピュータプログラムである。
（５）本発明の一態様は、前記警報要因箇所情報出力ステップは、前記第２の警報発信区間からの警報信号を受信した場合には、「警報要因箇所「通信端末」、但し、自動運転車両の車載装置群が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を出力し、前記第３の警報発信区間からの警報信号を受信した場合には、「警報要因箇所「無線通信ネットワーク内のネットワーク装置」、但し、自動運転車両内の車載装置群及び通信端末が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を出力する、上記（４）のコンピュータプログラムである。 ( 4 ) One aspect of the present invention is a computer of a remote monitoring device that remotely monitors the state of an automatically driving vehicle by communication via a communication network, and a plurality of computers on a communication path from the automatically driving vehicle to the remote monitoring device. The alarm section determination table storage step for storing the alarm section determination table that associates the alarm transmission section of the above with the alarm source identification information that identifies the alarm transmission source existing in each alarm transmission section in the alarm section determination table storage unit, and the automatic operation. The alarm signal receiving step of receiving the alarm signal transmitted from the driving vehicle and the communication network via the communication network, the source identification information included in the alarm signal received by the alarm signal receiving step, and the alarm section determination table. Based on the alarm transmission section determination step for determining the alarm transmission section in which the alarm signal is transmitted and the result of determination by the alarm transmission section determination step, the alarm factor location where the alarm factor exists is determined. A computer program for executing an alarm factor location determination step and an alarm factor location information output step that outputs alarm factor location information indicating an alarm factor location as a result of determination by the alarm factor location determination step. In the alarm section determination table, the communication path from the automatic driving vehicle to the remote monitoring device includes a first alarm transmission section from the in-vehicle device group provided in the automatic driving vehicle to the communication terminal provided in the automatic driving vehicle, and the above. The alarm is divided into a second alarm transmission section from the communication terminal to the wireless communication network and a third alarm transmission section from the wireless communication network to the remote monitoring device, and an alarm exists in the first alarm transmission section. The first source identification information that identifies the source, the second source identification information that identifies the alarm source that exists in the second alarm transmission section, and the alarm that exists in the third alarm transmission section. It is a computer program that stores a third source identification information that identifies a source .
(5) In one aspect of the present invention, when the alarm factor location information output step receives an alarm signal from the second alarm transmission section, it is "alarm factor location" communication terminal ", but automatic operation. When the alarm factor location information indicating "it is unknown whether or not the in-vehicle device group of the vehicle is the alarm factor location" is output and the alarm signal from the third alarm transmission section is received, the "alarm factor" is output. The above-mentioned ( 4) Computer program.

（６）本発明の一態様は、通信ネットワークを介した通信により自動運転車両の状態を遠隔で監視する遠隔監視装置の遠隔監視方法であって、前記遠隔監視装置が、前記自動運転車両から前記遠隔監視装置までの通信経路上の複数の警報発信区間と、各警報発信区間に存在する警報発信元を識別する発信元識別情報とを関連付ける警報区間判定テーブルを警報区間判定テーブル記憶部に記憶する警報区間判定テーブル記憶ステップと、前記遠隔監視装置が、前記自動運転車両及び前記通信ネットワークから送信される警報信号を前記通信ネットワークを介して受信する警報信号受信ステップと、前記遠隔監視装置が、前記警報信号受信ステップが受信した警報信号に含まれる発信元識別情報及び前記警報区間判定テーブルに基づいて、当該警報信号が発信された警報発信区間を判断する警報発信区間判断ステップと、前記遠隔監視装置が、前記警報発信区間判断ステップが判断した結果に基づいて、警報の要因が存在する警報要因箇所を判断する警報要因箇所判断ステップと、前記遠隔監視装置が、前記警報要因箇所判断ステップが判断した結果の警報要因箇所を示す警報要因箇所情報を出力する警報要因箇所情報出力ステップと、を含む遠隔監視方法であり、前記警報区間判定テーブルは、前記自動運転車両から前記遠隔監視装置までの通信経路が、前記自動運転車両に備わる車載装置群から前記自動運転車両に備わる通信端末までの第１の警報発信区間と、前記通信端末から無線通信ネットワークまでの第２の警報発信区間と、前記無線通信ネットワークから前記遠隔監視装置までの第３の警報発信区間と、に分割され、前記第１の警報発信区間に存在する警報発信元を識別する第１の発信元識別情報と、前記第２の警報発信区間に存在する警報発信元を識別する第２の発信元識別情報と、前記第３の警報発信区間に存在する警報発信元を識別する第３の発信元識別情報と、を格納する、遠隔監視方法である。
（７）本発明の一態様は、前記警報要因箇所情報出力ステップは、前記第２の警報発信区間からの警報信号を受信した場合には、「警報要因箇所「通信端末」、但し、自動運転車両の車載装置群が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を出力し、前記第３の警報発信区間からの警報信号を受信した場合には、「警報要因箇所「無線通信ネットワーク内のネットワーク装置」、但し、自動運転車両内の車載装置群及び通信端末が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を出力する、上記（６）の遠隔監視方法である。 ( 6 ) One aspect of the present invention is a remote monitoring method for a remote monitoring device that remotely monitors the state of an automatically driving vehicle by communication via a communication network, wherein the remote monitoring device is the same from the automatically driving vehicle. The alarm section determination table that associates a plurality of alarm transmission sections on the communication path to the remote monitoring device with the source identification information that identifies the alarm transmission source existing in each alarm transmission section is stored in the alarm section determination table storage unit. The alarm section determination table storage step, the alarm signal receiving step in which the remote monitoring device receives an alarm signal transmitted from the automatically driving vehicle and the communication network via the communication network, and the remote monitoring device are described. The alarm transmission section determination step for determining the alarm transmission section to which the alarm signal is transmitted based on the source identification information included in the alarm signal received by the alarm signal reception step and the alarm section determination table, and the remote monitoring device. However, based on the result determined by the alarm transmission section determination step, the alarm factor location determination step for determining the alarm factor location where the alarm factor exists and the remote monitoring device determine the alarm factor location determination step. It is a remote monitoring method including an alarm factor location information output step for outputting alarm factor location information indicating a result alarm factor location , and the warning section determination table is a communication path from the automatic driving vehicle to the remote monitoring device. However, the first alarm transmission section from the in-vehicle device group provided in the automatic driving vehicle to the communication terminal provided in the automatic driving vehicle, the second warning transmission section from the communication terminal to the wireless communication network, and the wireless communication. A first source identification information that is divided into a third alarm transmission section from the network to the remote monitoring device and identifies an alarm transmission source existing in the first alarm transmission section, and the second alarm. Remotely storing the second source identification information for identifying the alarm source existing in the transmission section and the third source identification information for identifying the alarm source existing in the third alarm transmission section. It is a monitoring method.
(7) In one aspect of the present invention, when the alarm factor location information output step receives an alarm signal from the second alarm transmission section, it is "alarm factor location" communication terminal ", but automatic operation. When the alarm factor location information indicating "it is unknown whether or not the in-vehicle device group of the vehicle is the alarm factor location" is output and the alarm signal from the third alarm transmission section is received, the "alarm factor" is output. The above-mentioned ( This is the remote monitoring method of 6).

本発明によれば、自動運転車両の警報状態を遠隔で監視する際の精度向上を図ることができるという効果が得られる。 According to the present invention, it is possible to improve the accuracy when remotely monitoring the alarm state of the autonomous driving vehicle.

一実施形態に係る遠隔監視システムの構成例を示すブロック図である。It is a block diagram which shows the configuration example of the remote monitoring system which concerns on one Embodiment. 一実施形態に係る遠隔監視装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the remote monitoring apparatus which concerns on one Embodiment. 一実施形態に係る警報発信区間の説明図である。It is explanatory drawing of the alarm transmission section which concerns on one Embodiment. 一実施形態に係る警報区間判定テーブルの構成例を示す図表である。It is a figure which shows the structural example of the warning section determination table which concerns on one Embodiment. 一実施形態に係る警報要因箇所判断方法の説明図である。It is explanatory drawing of the alarm factor location determination method which concerns on one Embodiment. 一実施形態に係る警報要因箇所判断方法の説明図である。It is explanatory drawing of the alarm factor location determination method which concerns on one Embodiment. 一実施形態に係る警報要因箇所判断方法の説明図である。It is explanatory drawing of the alarm factor location determination method which concerns on one Embodiment. 一実施形態に係る遠隔監視システムの構成例を示すブロック図である。It is a block diagram which shows the configuration example of the remote monitoring system which concerns on one Embodiment. 一実施形態に係る遠隔監視装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the remote monitoring apparatus which concerns on one Embodiment.

以下、図面を参照し、本発明の実施形態について説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

［第１実施形態］
図１は、第１実施形態に係る遠隔監視システムの構成例を示すブロック図である。図１に示される遠隔監視システム１において、自動運転車両２は、自動運転により走行する車両である。自動運転車両２は、自動運転と手動運転とを切り替える機能を有してもよい。さらには、自動運転車両２は、自動運転と手動運転と遠隔運転とを切り替える機能を有してもよい。 [First Embodiment]
FIG. 1 is a block diagram showing a configuration example of a remote monitoring system according to the first embodiment. In the remote monitoring system 1 shown in FIG. 1, the autonomous driving vehicle 2 is a vehicle that travels by automatic driving. The autonomous driving vehicle 2 may have a function of switching between automatic driving and manual driving. Further, the autonomous driving vehicle 2 may have a function of switching between automatic driving, manual driving, and remote driving.

自動運転車両２は、通信端末２１とＮ台の車載装置２２とを備える。車載装置２２としては、例えば、自動運転システム、遠隔運転システム、ＥＣＵ（Electronic Control Unit：電子制御装置）、ＧＰＳ（Global Positioning System）装置、ナビゲーション装置などが挙げられる。 The self-driving vehicle 2 includes a communication terminal 21 and N in-vehicle devices 22. Examples of the in-vehicle device 22 include an automatic driving system, a remote driving system, an ECU (Electronic Control Unit), a GPS (Global Positioning System) device, a navigation device, and the like.

通信端末２１と各車載装置２２とは接続されている。例えば、通信端末２１と各車載装置２２とは、自動運転車両２に備わる通信ネットワーク（車載ネットワーク）に接続され、当該車載ネットワークを介してデータを送受する。なお、通信端末２１は、自動運転車両２に固定されたものであってもよく、又は、自動運転車両２に着脱可能なものであってもよい。例えば、通信端末２１は、自動運転車両２に乗車する乗車者のスマートフォン等の携帯通信端末であってもよい。 The communication terminal 21 and each in-vehicle device 22 are connected to each other. For example, the communication terminal 21 and each in-vehicle device 22 are connected to a communication network (in-vehicle network) provided in the autonomous driving vehicle 2, and data is transmitted / received via the in-vehicle network. The communication terminal 21 may be fixed to the autonomous driving vehicle 2 or may be detachable from the autonomous driving vehicle 2. For example, the communication terminal 21 may be a mobile communication terminal such as a smartphone of a passenger who gets on the autonomous driving vehicle 2.

通信端末２１及び各車載装置２２には、それぞれ装置識別情報（装置ＩＤ）が付与されている。通信端末２１の装置ＩＤは「ＩＤＢ＿１」である。Ｎ台の各車載装置２２の装置ＩＤは「ＩＤＡ＿１」，・・・，「ＩＤＡ＿Ｎ」である。 Device identification information (device ID) is assigned to the communication terminal 21 and each in-vehicle device 22. The device ID of the communication terminal 21 is "IDB_1". The device IDs of the N vehicle-mounted devices 22 are "IDA_1", ..., "IDA_N".

管制センター３は、自動運転車両２の管制を行う機関である。管制センター３は、遠隔監視装置１０と監視端末３０とを備える。監視端末３０は、遠隔監視装置１０に接続されており、遠隔監視装置１０とデータを送受する。 The control center 3 is an organization that controls the autonomous driving vehicle 2. The control center 3 includes a remote monitoring device 10 and a monitoring terminal 30. The monitoring terminal 30 is connected to the remote monitoring device 10 and transmits / receives data to / from the remote monitoring device 10.

遠隔監視装置１０は、セルラーネットワーク（セルラーＮＷ）４を介して、自動運転車両２と通信を行う。自動運転車両２の通信端末２１は、セルラーＮＷ４に接続し、セルラーＮＷ４を介して自動運転車両２の外部の装置と通信を行う。例えば、通信端末２１は、セルラーＮＷ４を介して遠隔監視装置１０と通信を行う。各車載装置２２は、通信端末２１を介して自動運転車両２の外部の装置と通信を行う。例えば、各車載装置２２は、通信端末２１を介して遠隔監視装置１０と通信を行う。遠隔監視装置１０は、セルラーＮＷ４を介した通信により自動運転車両２の状態を遠隔で監視する。 The remote monitoring device 10 communicates with the autonomous driving vehicle 2 via the cellular network (cellular NW) 4. The communication terminal 21 of the autonomous driving vehicle 2 is connected to the cellular NW 4 and communicates with an external device of the autonomous driving vehicle 2 via the cellular NW 4. For example, the communication terminal 21 communicates with the remote monitoring device 10 via the cellular NW4. Each in-vehicle device 22 communicates with an external device of the autonomous driving vehicle 2 via the communication terminal 21. For example, each in-vehicle device 22 communicates with the remote monitoring device 10 via the communication terminal 21. The remote monitoring device 10 remotely monitors the state of the autonomous driving vehicle 2 by communication via the cellular NW 4.

セルラーＮＷ４は、Ｍ台のネットワーク装置（ＮＷ装置）４１を備える。Ｍ台の各ＮＷ装置４１には、それぞれ装置ＩＤ「ＩＤＣ＿１」，・・・，「ＩＤＣ＿Ｍ」が付与されている。 The cellular NW4 includes M network devices (NW devices) 41. Device IDs "IDC_1", ..., "IDC_M" are assigned to each of the NW devices 41 of the M units.

通信端末２１、各車載装置２２及び各ＮＷ装置４１は、遠隔監視装置１０へ、警報信号を発信する。各ＮＷ装置４１が発信した警報信号は、セルラーＮＷ４を介して遠隔監視装置１０で受信される。通信端末２１が発信した警報信号は、セルラーＮＷ４を介して遠隔監視装置１０で受信される。各車載装置２２が発信した警報信号は、通信端末２１及びセルラーＮＷ４を介して遠隔監視装置１０で受信される。 The communication terminal 21, each in-vehicle device 22, and each NW device 41 transmits an alarm signal to the remote monitoring device 10. The alarm signal transmitted by each NW device 41 is received by the remote monitoring device 10 via the cellular NW 4. The alarm signal transmitted by the communication terminal 21 is received by the remote monitoring device 10 via the cellular NW 4. The alarm signal transmitted by each in-vehicle device 22 is received by the remote monitoring device 10 via the communication terminal 21 and the cellular NW4.

通信端末２１、各車載装置２２及び各ＮＷ装置４１は、自己が発信する警報信号に、発信元識別情報（発信元ＩＤ）として自己の装置ＩＤを含める。各車載装置２２は、自車載装置２２の異常状態や自動運転車両２の他の車載装置２２の異常状態を警報信号によって遠隔監視装置１０へ通知する。通信端末２１は、自通信端末２１の異常状態を警報信号によって遠隔監視装置１０へ通知する。各ＮＷ装置４１は、自ＮＷ装置４１の異常状態やセルラーＮＷ４の異常状態を警報信号によって遠隔監視装置１０へ通知する。 The communication terminal 21, each in-vehicle device 22, and each NW device 41 include its own device ID as source identification information (source ID) in the alarm signal transmitted by itself. Each in-vehicle device 22 notifies the remote monitoring device 10 of the abnormal state of the own in-vehicle device 22 and the abnormal state of the other in-vehicle device 22 of the autonomous driving vehicle 2 by an alarm signal. The communication terminal 21 notifies the remote monitoring device 10 of the abnormal state of the own communication terminal 21 by an alarm signal. Each NW device 41 notifies the remote monitoring device 10 of the abnormal state of its own NW device 41 and the abnormal state of the cellular NW 4 by an alarm signal.

図２は、第１実施形態に係る遠隔監視装置の構成例を示すブロック図である。図２において、遠隔監視装置１０は、通信部１１と、警報発信区間判断部１２と、警報要因箇所判断部１３と、警報要因箇所情報出力部１４と、警報区間判定テーブル記憶部１５とを備える。図２に示される遠隔監視装置１０の各部の機能は、遠隔監視装置１０が備えるＣＰＵ（Central Processing Unit：中央演算処理装置）がコンピュータプログラムを実行することにより実現される。本実施形態において通信部１１は警報信号受信部に対応する。 FIG. 2 is a block diagram showing a configuration example of the remote monitoring device according to the first embodiment. In FIG. 2, the remote monitoring device 10 includes a communication unit 11, an alarm transmission section determination unit 12, an alarm factor location determination unit 13, an alarm factor location information output unit 14, and an alarm section determination table storage unit 15. .. The functions of each part of the remote monitoring device 10 shown in FIG. 2 are realized by the CPU (Central Processing Unit) included in the remote monitoring device 10 executing a computer program. In the present embodiment, the communication unit 11 corresponds to the alarm signal receiving unit.

通信部１１は、セルラーＮＷ４を介して通信を行う。通信部１１は、自動運転車両２の通信端末２１及び各車載装置２２から送信される警報信号をセルラーＮＷ４を介して受信する。また、通信部１１は、各ＮＷ装置４１から送信される警報信号をセルラーＮＷ４を介して受信する。 The communication unit 11 communicates via the cellular NW4. The communication unit 11 receives an alarm signal transmitted from the communication terminal 21 of the autonomous driving vehicle 2 and each in-vehicle device 22 via the cellular NW 4. Further, the communication unit 11 receives the alarm signal transmitted from each NW device 41 via the cellular NW 4.

警報区間判定テーブル記憶部１５は、警報区間判定テーブルを記憶する。警報区間判定テーブルは、自動運転車両２から遠隔監視装置１０までの通信経路上の複数の警報発信区間と、各警報発信区間に存在する警報発信元を識別する発信元ＩＤとを関連付けるテーブル形式のデータである。 The alarm section determination table storage unit 15 stores the alarm section determination table. The warning section determination table is in the form of a table that associates a plurality of warning transmission sections on the communication path from the automated driving vehicle 2 to the remote monitoring device 10 with a source ID that identifies an alarm transmission source existing in each warning transmission section. It is data.

警報発信区間判断部１２は、通信部１１が受信した警報信号に含まれる発信元ＩＤ及び警報区間判定テーブルに基づいて、当該警報信号が発信された警報発信区間を判断する。警報要因箇所判断部１３は、警報発信区間判断部１２が判断した結果に基づいて、警報の要因が存在する警報要因箇所を判断する。警報要因箇所情報出力部１４は、警報要因箇所判断部１３が判断した結果の警報要因箇所を示す警報要因箇所情報を監視端末３０へ出力する。また、警報要因箇所情報出力部１４は、通信部１１が受信した警報信号に含まれる異常状態の内容を示す異常状態情報を監視端末３０へ出力する。 The alarm transmission section determination unit 12 determines the alarm transmission section to which the alarm signal is transmitted based on the source ID and the alarm section determination table included in the alarm signal received by the communication unit 11. The alarm factor location determination unit 13 determines the alarm factor location where the alarm factor exists based on the result of the determination by the alarm transmission section determination unit 12. The alarm factor location information output unit 14 outputs the alarm factor location information indicating the alarm factor location as a result of the determination by the alarm factor location determination unit 13 to the monitoring terminal 30. Further, the alarm factor location information output unit 14 outputs the abnormal state information indicating the content of the abnormal state included in the alarm signal received by the communication unit 11 to the monitoring terminal 30.

監視端末３０は、遠隔監視装置１０から受けた警報要因箇所情報を、表示画面に表示する。監視者は、監視端末３０の表示画面に表示された警報要因箇所情報を視認する。これにより、監視者は、警報要因箇所情報で示される警報要因箇所を認識する。 The monitoring terminal 30 displays the alarm factor location information received from the remote monitoring device 10 on the display screen. The observer visually recognizes the alarm factor location information displayed on the display screen of the monitoring terminal 30. As a result, the observer recognizes the alarm factor location indicated by the alarm factor location information.

図３は、本実施形態に係る警報発信区間の説明図である。図３に示される警報発信区間は、図１に示される遠隔監視システム１に対応している。図３に示されるように、自動運転車両２の車載装置群（「Ｎ台の車載装置２２「ＩＤＡ＿１」，・・・，「ＩＤＡ＿Ｎ」」から遠隔監視装置１０までの通信経路は、当該車載装置群から通信端末２１に至る通信経路（警報発信区間Ａに対応するもの）と、通信端末２１からセルラーＮＷ４に至る通信経路（警報発信区間Ｂに対応するもの）と、セルラーＮＷ４から遠隔監視装置１０に至る通信経路（警報発信区間Ｃに対応するもの）とから構成される。 FIG. 3 is an explanatory diagram of an alarm transmission section according to the present embodiment. The alarm transmission section shown in FIG. 3 corresponds to the remote monitoring system 1 shown in FIG. As shown in FIG. 3, the communication path from the in-vehicle device group of the autonomous driving vehicle 2 (“N in-vehicle devices 22“ IDA_1 ”, ...,“ IDA_N ”” to the remote monitoring device 10 is the in-vehicle device. A communication path from the group to the communication terminal 21 (corresponding to the alarm transmission section A), a communication path from the communication terminal 21 to the cellular NW4 (corresponding to the alarm transmission section B), and a remote monitoring device 10 from the cellular NW4. It is composed of a communication path leading to (corresponding to the alarm transmission section C).

各警報発信区間Ａ，Ｂ，Ｃには、それぞれに、警報信号を発信する装置（警報発信装置）が存在する。警報発信区間Ａには、警報発信装置としてＮ台の車載装置２２「ＩＤＡ＿１」，・・・，「ＩＤＡ＿Ｎ」が存在する。警報発信区間Ｂには、警報発信装置として通信端末２１が存在する。警報発信区間Ｃには、警報発信装置としてＭ台のＮＷ装置４１「ＩＤＣ＿１」，・・・，「ＩＤＣ＿Ｍ」が存在する。 Each of the alarm transmission sections A, B, and C has a device (alarm transmission device) for transmitting an alarm signal. In the alarm transmission section A, there are N in-vehicle devices 22 “IDA_1”, ..., “IDA_N” as alarm transmission devices. In the alarm transmission section B, the communication terminal 21 exists as an alarm transmission device. In the alarm transmission section C, there are M NW devices 41 “IDC_1”, ..., “IDC_M” as alarm transmission devices.

なお、通信端末２１及びＮ台の車載装置２２「ＩＤＡ＿１」，・・・，「ＩＤＡ＿Ｎ」は、自動運転車両２内に存在する警報発信装置であるが、本実施形態では、警報要因箇所の判別の精度の向上のために、通信端末２１とＮ台の車載装置２２「ＩＤＡ＿１」，・・・，「ＩＤＡ＿Ｎ」とを別個の警報発信区間Ａ，Ｂに分けている。 The communication terminals 21 and N in-vehicle devices 22 "IDA_1", ..., "IDA_N" are alarm transmission devices existing in the autonomous driving vehicle 2, but in the present embodiment, the alarm factor location is determined. In order to improve the accuracy of the above, the communication terminal 21 and N in-vehicle devices 22 “IDA_1”, ..., “IDA_N” are divided into separate alarm transmission sections A and B.

図４は、本実施形態に係る警報区間判定テーブルの構成例を示す図表である。図４の構成例は、図３に示される警報発信区間Ａ，Ｂ，Ｃに対応する。図４において、警報区間判定テーブルは、警報発信区間Ａ，Ｂ，Ｃ毎に、各警報発信区間Ａ，Ｂ，Ｃに存在する警報発信装置の装置ＩＤ（発信元ＩＤ）を格納する。この警報区間判定テーブルによれば、遠隔監視装置１０が受信した警報信号に含まれる発信元ＩＤに基づいて、当該警報信号が警報発信区間Ａ，Ｂ，Ｃのうちいずれの警報発信区間から発信されたものかを判別することができる。 FIG. 4 is a chart showing a configuration example of the alarm section determination table according to the present embodiment. The configuration example of FIG. 4 corresponds to the alarm transmission sections A, B, and C shown in FIG. In FIG. 4, the alarm section determination table stores the device ID (source ID) of the alarm transmission device existing in each alarm transmission section A, B, C for each alarm transmission section A, B, C. According to this alarm section determination table, the alarm signal is transmitted from any of the alarm transmission sections A, B, and C based on the source ID included in the alarm signal received by the remote monitoring device 10. It is possible to determine whether it is a new one.

次に図５から図７を参照して、本実施形態に係る警報要因箇所判断方法を説明する。図５から図７は、本実施形態に係る警報要因箇所判断方法の説明図である。 Next, with reference to FIGS. 5 to 7, a method for determining an alarm factor location according to the present embodiment will be described. 5 to 7 are explanatory views of the alarm factor location determination method according to the present embodiment.

（警報要因箇所判断方法の例１）
図５を参照して、警報要因箇所判断方法の例１を説明する。警報要因箇所判断方法の例１は、自動運転車両２の車載装置群から発信された警報信号が遠隔監視装置１０で受信される場合である。ここでは、車載装置２２の一例として車載装置２２「ＩＤＡ＿１」を挙げて説明するが、他の車載装置２２の場合も同様である。図５に例示されるように、自動運転車両２の車載装置２２「ＩＤＡ＿１」から発信された警報信号（ＩＤＡ＿１）が、各警報発信区間Ａ，Ｂ，Ｃを順次経由して遠隔監視装置１０で受信される。 (Example of alarm factor location determination method 1)
An example 1 of a method for determining an alarm factor location will be described with reference to FIG. Example 1 of the alarm factor location determination method is a case where the alarm signal transmitted from the in-vehicle device group of the autonomous driving vehicle 2 is received by the remote monitoring device 10. Here, the vehicle-mounted device 22 “IDA_1” will be described as an example of the vehicle-mounted device 22, but the same applies to the other vehicle-mounted device 22. As illustrated in FIG. 5, the alarm signal (IDA_1) transmitted from the in-vehicle device 22 “IDA_1” of the autonomous driving vehicle 2 sequentially passes through the alarm transmission sections A, B, and C in the remote monitoring device 10. Received.

遠隔監視装置１０において、通信部１１は、車載装置２２「ＩＤＡ＿１」から発信された警報信号（ＩＤＡ＿１）を受信する。次いで、警報発信区間判断部１２は、通信部１１が受信した警報信号（ＩＤＡ＿１）に含まれる発信元ＩＤ「ＩＤＡ＿１」及び警報区間判定テーブル記憶部１５内の警報区間判定テーブル（図４参照）に基づいて、当該警報信号（ＩＤＡ＿１）が発信された警報発信区間が警報発信区間Ａであると判断する。 In the remote monitoring device 10, the communication unit 11 receives the alarm signal (IDA_1) transmitted from the in-vehicle device 22 “IDA_1”. Next, the alarm transmission section determination unit 12 puts the source ID “IDA_1” included in the alarm signal (IDA_1) received by the communication unit 11 and the alarm section determination table (see FIG. 4) in the alarm section determination table storage unit 15. Based on this, it is determined that the alarm transmission section in which the alarm signal (IDA_1) is transmitted is the alarm transmission section A.

次いで、警報要因箇所判断部１３は、警報発信区間判断部１２が判断した結果「警報発信区間Ａ」に基づいて、警報の要因が存在する警報要因箇所を、当該警報信号（ＩＤＡ＿１）の発信元ＩＤ「ＩＤＡ＿１」の車載装置２２又は他の車載装置２２（自動運転車両２の車載装置群）であると判断する。この判断においては、警報発信区間が警報発信区間Ａであるので、警報発信区間Ｂ及びＣの通信経路は正常であって警報発信区間Ｂ及びＣに存在する警報発信装置（通信端末２１及びＮＷ装置４１）からは警報信号が発信されていないと判断することができる。よって、自動運転車両２の車載装置群に警報要因箇所を限定することができるからである。 Next, the alarm factor location determination unit 13 determines the alarm factor location where the alarm factor exists, based on the result of the determination by the alarm transmission section determination unit 12, the alarm signal (IDA_1) source. It is determined that the vehicle-mounted device 22 has the ID "IDA_1" or another vehicle-mounted device 22 (vehicle-mounted device group of the autonomous driving vehicle 2). In this determination, since the alarm transmission section is the alarm transmission section A, the communication paths of the alarm transmission sections B and C are normal, and the alarm transmission devices (communication terminals 21 and NW devices) existing in the alarm transmission sections B and C are present. From 41), it can be determined that the alarm signal has not been transmitted. Therefore, the alarm factor location can be limited to the in-vehicle device group of the autonomous driving vehicle 2.

次いで、警報要因箇所情報出力部１４は、警報要因箇所判断部１３が判断した結果の警報要因箇所「車載装置２２「ＩＤＡ＿１」又は他の車載装置２２（自動運転車両２の車載装置群）」を示す警報要因箇所情報を監視端末３０へ出力する。また、警報要因箇所情報出力部１４は、通信部１１が受信した警報信号（ＩＤＡ＿１）に含まれる異常状態情報（異常状態の詳細等）を監視端末３０へ出力する。 Next, the alarm factor location information output unit 14 sets the alarm factor location "vehicle-mounted device 22" IDA_1 "or another vehicle-mounted device 22 (vehicle-mounted device group of the automatic driving vehicle 2)" as a result of the determination by the alarm factor location determination unit 13. The indicated alarm factor location information is output to the monitoring terminal 30. Further, the alarm factor location information output unit 14 outputs the abnormal state information (details of the abnormal state, etc.) included in the alarm signal (IDA_1) received by the communication unit 11 to the monitoring terminal 30.

監視端末３０は、当該警報要因箇所情報及び異常状態情報を表示画面に表示する。監視者は、監視端末３０の表示画面に表示された警報要因箇所情報によって、警報要因箇所「車載装置２２「ＩＤＡ＿１」又は他の車載装置２２（自動運転車両２の車載装置群）」を認識する。また、監視者は、監視端末３０の表示画面に表示された異常状態情報によって異常状態の詳細等を認識する。これにより、監視者は、自動運転車両２の異常状態に応じた対処を行う。例えば、「車載装置２２「ＩＤＡ＿１」又は他の車載装置２２」の交換や修理の手配、自動運転車両２の現場へ作業員を派遣する手配、自動運転車両２の代車の手配などが行われる。又は、監視者は、自動運転車両２の異常状態によっては対処不要と判断する。 The monitoring terminal 30 displays the alarm factor location information and the abnormal state information on the display screen. The observer recognizes the alarm factor location "vehicle-mounted device 22" IDA_1 "or another vehicle-mounted device 22 (vehicle-mounted device group of the autonomous driving vehicle 2)" based on the alarm factor location information displayed on the display screen of the monitoring terminal 30. .. Further, the observer recognizes the details of the abnormal state and the like based on the abnormal state information displayed on the display screen of the monitoring terminal 30. As a result, the observer takes measures according to the abnormal state of the autonomous driving vehicle 2. For example, arrangements for replacement or repair of the "vehicle-mounted device 22" IDA_1 "or another vehicle-mounted device 22", arrangements for dispatching workers to the site of the autonomous driving vehicle 2, arrangements for a substitute vehicle for the autonomous driving vehicle 2, and the like are performed. .. Alternatively, the observer determines that no action is required depending on the abnormal state of the autonomous driving vehicle 2.

（警報要因箇所判断方法の例２）
図６を参照して、警報要因箇所判断方法の例２を説明する。警報要因箇所判断方法の例２は、自動運転車両２の通信端末２１から発信された警報信号が遠隔監視装置１０で受信される場合である。図６に例示されるように、自動運転車両２の通信端末２１「ＩＤＢ＿１」から発信された警報信号（ＩＤＢ＿１）が、各警報発信区間Ｂ，Ｃを順次経由して遠隔監視装置１０で受信される。 (Example 2 of the method for determining the location of the alarm factor)
An example 2 of the alarm factor location determination method will be described with reference to FIG. Example 2 of the alarm factor location determination method is a case where the alarm signal transmitted from the communication terminal 21 of the autonomous driving vehicle 2 is received by the remote monitoring device 10. As illustrated in FIG. 6, the alarm signal (IDB_1) transmitted from the communication terminal 21 “IDB_1” of the autonomous driving vehicle 2 is sequentially received by the remote monitoring device 10 via the alarm transmission sections B and C. To.

遠隔監視装置１０において、通信部１１は、通信端末２１「ＩＤＢ＿１」から発信された警報信号（ＩＤＢ＿１）を受信する。次いで、警報発信区間判断部１２は、通信部１１が受信した警報信号（ＩＤＢ＿１）に含まれる発信元ＩＤ「ＩＤＢ＿１」及び警報区間判定テーブル記憶部１５内の警報区間判定テーブル（図４参照）に基づいて、当該警報信号（ＩＤＢ＿１）が発信された警報発信区間が警報発信区間Ｂであると判断する。 In the remote monitoring device 10, the communication unit 11 receives the alarm signal (IDB_1) transmitted from the communication terminal 21 “IDB_1”. Next, the alarm transmission section determination unit 12 puts the source ID “IDB_1” included in the alarm signal (IDB_1) received by the communication unit 11 and the alarm section determination table (see FIG. 4) in the alarm section determination table storage unit 15. Based on this, it is determined that the alarm transmission section in which the alarm signal (IDB_1) is transmitted is the alarm transmission section B.

次いで、警報要因箇所判断部１３は、警報発信区間判断部１２が判断した結果「警報発信区間Ｂ」に基づいて、警報の要因が存在する警報要因箇所を、当該警報信号（ＩＤＢ＿１）の発信元ＩＤ「ＩＤＢ＿１」の通信端末２１であると判断し、また、自動運転車両２の車載装置群が警報要因箇所であるか否かは不明であると判断する。この判断においては、警報発信区間が警報発信区間Ｂであるので、警報発信区間Ｃの通信経路は正常であって警報発信区間Ｃに存在する警報発信装置（ＮＷ装置４１）からは警報信号が発信されていないと判断することができる。一方、警報発信区間Ａに存在する警報発信装置（自動運転車両２の車載装置群）については、警報発信区間が警報発信区間Ｂであるので、もし自動運転車両２の車載装置群から警報信号が発信されたとしても、通信端末２１の異常によって当該警報信号が警報発信区間Ｂを伝送されない可能性がある。このため、自動運転車両２の車載装置群が警報要因箇所ではないとは判断することができない。よって、通信端末２１が警報要因箇所であること及びＮＷ装置４１が警報要因箇所ではないことを判断することはできるが、自動運転車両２の車載装置群が警報要因箇所であるか否かを判断することができないからである。 Next, the alarm factor location determination unit 13 determines the alarm factor location where the alarm factor exists, based on the result of the determination by the alarm transmission section determination unit 12, the alarm signal (IDB_1) source. It is determined that the communication terminal 21 has the ID "IDB_1", and it is unclear whether or not the in-vehicle device group of the automatic driving vehicle 2 is an alarm factor location. In this determination, since the alarm transmission section is the alarm transmission section B, the communication path of the alarm transmission section C is normal, and the alarm signal is transmitted from the alarm transmission device (NW device 41) existing in the alarm transmission section C. It can be determined that it has not been done. On the other hand, with respect to the alarm transmitting device (vehicle-mounted device group of the autonomous driving vehicle 2) existing in the alarm transmitting section A, since the alarm transmitting section is the alarm transmitting section B, if an alarm signal is emitted from the vehicle-mounted device group of the autonomous driving vehicle 2. Even if the signal is transmitted, there is a possibility that the alarm signal is not transmitted in the alarm transmission section B due to an abnormality in the communication terminal 21. Therefore, it cannot be determined that the in-vehicle device group of the autonomous driving vehicle 2 is not the alarm factor location. Therefore, it is possible to determine that the communication terminal 21 is an alarm factor location and that the NW device 41 is not an alarm factor location, but it is determined whether or not the in-vehicle device group of the autonomous driving vehicle 2 is an alarm factor location. Because it cannot be done.

次いで、警報要因箇所情報出力部１４は、警報要因箇所判断部１３が判断した結果の警報要因箇所「通信端末２１「ＩＤＢ＿１」、但し、自動運転車両２の車載装置群が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を監視端末３０へ出力する。また、警報要因箇所情報出力部１４は、通信部１１が受信した警報信号（ＩＤＢ＿１）に含まれる異常状態情報（異常状態の詳細等）を監視端末３０へ出力する。 Next, the alarm factor location information output unit 14 is the alarm factor location "communication terminal 21" IDB_1 "as a result of the determination by the alarm factor location determination unit 13, but whether the in-vehicle device group of the automated driving vehicle 2 is the alarm factor location. Information on the location of the alarm factor indicating "whether or not it is unknown" is output to the monitoring terminal 30. Further, the alarm factor location information output unit 14 outputs the abnormal state information (details of the abnormal state, etc.) included in the alarm signal (IDB_1) received by the communication unit 11 to the monitoring terminal 30.

監視端末３０は、当該警報要因箇所情報及び異常状態情報を表示画面に表示する。監視者は、監視端末３０の表示画面に表示された警報要因箇所情報によって、警報要因箇所「通信端末２１「ＩＤＢ＿１」、但し、自動運転車両２の車載装置群が警報要因箇所であるか否かは不明である」を認識する。また、監視者は、監視端末３０の表示画面に表示された異常状態情報によって異常状態の詳細等を認識する。これにより、監視者は、通信端末２１の異常状態に応じた対処を行う。また、監視者は、自動運転車両２の車載装置群に異常が発生している可能性があることを認識し、所定の対処を行う。 The monitoring terminal 30 displays the alarm factor location information and the abnormal state information on the display screen. The observer uses the warning factor location information displayed on the display screen of the monitoring terminal 30 to determine whether the alarm factor location "communication terminal 21" IDB_1 ", but whether or not the in-vehicle device group of the autonomous driving vehicle 2 is the alarm factor location. Is unknown. " Further, the observer recognizes the details of the abnormal state and the like based on the abnormal state information displayed on the display screen of the monitoring terminal 30. As a result, the observer takes measures according to the abnormal state of the communication terminal 21. In addition, the observer recognizes that an abnormality may have occurred in the in-vehicle device group of the autonomous driving vehicle 2, and takes predetermined measures.

（警報要因箇所判断方法の例３）
図７を参照して、警報要因箇所判断方法の例３を説明する。警報要因箇所判断方法の例３は、セルラーＮＷ４のＮＷ装置４１から発信された警報信号が遠隔監視装置１０で受信される場合である。ここでは、ＮＷ装置４１の一例としてＮＷ装置４１「ＩＤＣ＿１」を挙げて説明するが、他のＮＷ装置４１の場合も同様である。図７に例示されるように、セルラーＮＷ４のＮＷ装置４１「ＩＤＣ＿１」から発信された警報信号（ＩＤＣ＿１）が遠隔監視装置１０で受信される。 (Example 3 of alarm factor location determination method)
An example 3 of the alarm factor location determination method will be described with reference to FIG. 7. Example 3 of the alarm factor location determination method is a case where the alarm signal transmitted from the NW device 41 of the cellular NW 4 is received by the remote monitoring device 10. Here, the NW device 41 “IDC_1” will be described as an example of the NW device 41, but the same applies to the other NW device 41. As illustrated in FIG. 7, the alarm signal (IDC_1) transmitted from the NW device 41 “IDC_1” of the cellular NW4 is received by the remote monitoring device 10.

遠隔監視装置１０において、通信部１１は、ＮＷ装置４１「ＩＤＣ＿１」から発信された警報信号（ＩＤＣ＿１）を受信する。次いで、警報発信区間判断部１２は、通信部１１が受信した警報信号（ＩＤＣ＿１）に含まれる発信元ＩＤ「ＩＤＣ＿１」及び警報区間判定テーブル記憶部１５内の警報区間判定テーブル（図４参照）に基づいて、当該警報信号（ＩＤＣ＿１）が発信された警報発信区間が警報発信区間Ｃであると判断する。 In the remote monitoring device 10, the communication unit 11 receives the alarm signal (IDC_1) transmitted from the NW device 41 “IDC_1”. Next, the alarm transmission section determination unit 12 puts the source ID "IDC_1" included in the alarm signal (IDC_1) received by the communication unit 11 and the alarm section determination table (see FIG. 4) in the alarm section determination table storage unit 15. Based on this, it is determined that the alarm transmission section in which the alarm signal (IDC_1) is transmitted is the alarm transmission section C.

次いで、警報要因箇所判断部１３は、警報発信区間判断部１２が判断した結果「警報発信区間Ｃ」に基づいて、警報の要因が存在する警報要因箇所を、当該警報信号（ＩＤＣ＿１）の発信元ＩＤ「ＩＤＣ＿１」のＮＷ装置４１又は他のＮＷ装置４１（セルラーＮＷ４）であると判断し、また、自動運転車両２の車載装置群及び通信端末２１が警報要因箇所であるか否かは不明であると判断する。この判断においては、警報発信区間が警報発信区間Ｃであるので、警報発信区間Ａ，Ｂに存在する警報発信装置（自動運転車両２の車載装置群，通信端末２１）については、警報発信区間が警報発信区間Ｃであるので、もし自動運転車両２の車載装置群や通信端末２１から警報信号が発信されたとしても、セルラーＮＷ４の異常によって当該警報信号が警報発信区間Ｃを伝送されない可能性がある。このため、自動運転車両２の車載装置群及び通信端末２１が警報要因箇所ではないとは判断することができない。よって、セルラーＮＷ４が警報要因箇所であることを判断することはできるが、自動運転車両２の車載装置群及び通信端末２１が警報要因箇所であるか否かを判断することができないからである。 Next, the alarm factor location determination unit 13 determines the alarm factor location where the alarm factor exists, based on the result “alarm transmission section C” determined by the alarm transmission section determination unit 12, from the source of the alarm signal (IDC_1). It is determined that it is the NW device 41 of the ID "IDC_1" or another NW device 41 (cellular NW4), and it is unknown whether the in-vehicle device group of the automatic driving vehicle 2 and the communication terminal 21 are alarm factor locations. Judge that there is. In this determination, since the warning transmission section is the warning transmission section C, the warning transmission section is the alarm transmission device (vehicle-mounted device group of the automatic driving vehicle 2, communication terminal 21) existing in the warning transmission sections A and B. Since it is the alarm transmission section C, even if the alarm signal is transmitted from the in-vehicle device group of the automatic driving vehicle 2 or the communication terminal 21, there is a possibility that the alarm signal is not transmitted in the alarm transmission section C due to an abnormality of the cellular NW4. be. Therefore, it cannot be determined that the in-vehicle device group of the autonomous driving vehicle 2 and the communication terminal 21 are not alarm factor locations. Therefore, although it is possible to determine that the cellular NW 4 is an alarm factor location, it is not possible to determine whether or not the in-vehicle device group of the autonomous driving vehicle 2 and the communication terminal 21 are alarm factor locations.

次いで、警報要因箇所情報出力部１４は、警報要因箇所判断部１３が判断した結果の警報要因箇所「ＮＷ装置４１「ＩＤＣ＿１」又は他のＮＷ装置４１（セルラーＮＷ４）、但し、自動運転車両２の車載装置群及び通信端末２１が警報要因箇所であるか否かは不明である」を示す警報要因箇所情報を監視端末３０へ出力する。また、警報要因箇所情報出力部１４は、通信部１１が受信した警報信号（ＩＤＣ＿１）に含まれる異常状態情報（異常状態の詳細等）を監視端末３０へ出力する。 Next, the alarm factor location information output unit 14 is the alarm factor location "NW device 41" IDC_1 "or another NW device 41 (cellular NW4), which is the result of the determination by the alarm factor location determination unit 13, but the automatic driving vehicle 2. It is unknown whether or not the in-vehicle device group and the communication terminal 21 are alarm factor locations. ”The alarm factor location information indicating“ is output to the monitoring terminal 30. Further, the alarm factor location information output unit 14 outputs the abnormal state information (details of the abnormal state, etc.) included in the alarm signal (IDC_1) received by the communication unit 11 to the monitoring terminal 30.

監視端末３０は、当該警報要因箇所情報及び異常状態情報を表示画面に表示する。監視者は、監視端末３０の表示画面に表示された警報要因箇所情報によって、警報要因箇所「ＮＷ装置４１「ＩＤＣ＿１」又は他のＮＷ装置４１（セルラーＮＷ４）、但し、自動運転車両２の車載装置群及び通信端末２１が警報要因箇所であるか否かは不明である」を認識する。また、監視者は、監視端末３０の表示画面に表示された異常状態情報によって異常状態の詳細等を認識する。これにより、監視者は、セルラーＮＷ４の異常状態に応じた対処を行う。また、監視者は、自動運転車両２の車載装置群や通信端末２１に異常が発生している可能性があることを認識し、所定の対処を行う。 The monitoring terminal 30 displays the alarm factor location information and the abnormal state information on the display screen. The observer uses the alarm factor location information displayed on the display screen of the monitoring terminal 30 to indicate the alarm factor location "NW device 41" IDC_1 "or another NW device 41 (cellular NW4), but the in-vehicle device of the autonomous driving vehicle 2. It is unknown whether the group and the communication terminal 21 are alarm factor locations. " Further, the observer recognizes the details of the abnormal state and the like based on the abnormal state information displayed on the display screen of the monitoring terminal 30. As a result, the observer takes measures according to the abnormal state of the cellular NW4. In addition, the observer recognizes that an abnormality may have occurred in the in-vehicle device group of the autonomous driving vehicle 2 or the communication terminal 21, and takes predetermined measures.

上述した第１実施形態によれば、遠隔監視装置１０が受信した警報信号に基づいて、複数の警報発信区間に対して、警報要因箇所であるか否か及び警報要因箇所であるか否かが不明であることを判断することができる。これにより、自動運転車両２の警報状態を遠隔で監視する際の精度向上を図ることができるという効果が得られる。 According to the first embodiment described above, whether or not it is an alarm factor location and whether or not it is an alarm factor location for a plurality of alarm transmission sections based on the alarm signal received by the remote monitoring device 10. It can be determined that it is unknown. This has the effect of improving the accuracy when remotely monitoring the alarm state of the autonomous driving vehicle 2.

なお、遠隔監視装置１０と自動運転車両２との間の通信は、セルラーＮＷ４以外の他の無線通信ネットワークを介して行われてもよい。例えば、無線ＬＡＮ（Local Area Network）を介して行われてもよい。この場合、無線ＬＡＮに備わるアクセスポイント（ＡＰ）等のＮＷ装置の装置ＩＤが発信元識別情報として警報区間判定テーブルに登録される。 The communication between the remote monitoring device 10 and the autonomous driving vehicle 2 may be performed via a wireless communication network other than the cellular NW4. For example, it may be performed via a wireless LAN (Local Area Network). In this case, the device ID of the NW device such as the access point (AP) provided in the wireless LAN is registered in the alarm section determination table as the source identification information.

［第２実施形態］
図８は、第２実施形態に係る遠隔監視システムの構成例を示すブロック図である。図８において図１の各部に対応する部分には同一の符号を付け、その説明を省略する。図２に示される遠隔監視システム１ａでは、管制センター３は遠隔監視装置１０ａを備える。また、自動運転車両２は、車載装置としてＧＰＳ装置２２を備える。ＧＰＳ装置２２の装置ＩＤは「ＩＤＡ＿１」である。ＧＰＳ装置２２は、自動運転車両２の現在位置を示す位置情報を取得する。通信端末２１は、ＧＰＳ装置２２が取得した位置情報を、定期的に遠隔監視装置１０ａへ送信する。 [Second Embodiment]
FIG. 8 is a block diagram showing a configuration example of the remote monitoring system according to the second embodiment. In FIG. 8, the parts corresponding to the parts of FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted. In the remote monitoring system 1a shown in FIG. 2, the control center 3 includes a remote monitoring device 10a. Further, the autonomous driving vehicle 2 includes a GPS device 22 as an in-vehicle device. The device ID of the GPS device 22 is "IDA_1". The GPS device 22 acquires position information indicating the current position of the autonomous driving vehicle 2. The communication terminal 21 periodically transmits the position information acquired by the GPS device 22 to the remote monitoring device 10a.

図９は、第２実施形態に係る遠隔監視装置の構成例を示すブロック図である。図９において図２の各部に対応する部分には同一の符号を付け、その説明を省略する。図９に示される遠隔監視装置１０ａは、図２の構成に加えてさらに、無線通信状況情報取得部１６と、警報要因無線通信エリア推定部１７と、警報要因無線通信エリア推定情報出力部１８と、を備える。図９に示される遠隔監視装置１０ａの各部の機能は、遠隔監視装置１０ａが備えるＣＰＵがコンピュータプログラムを実行することにより実現される。本実施形態において通信部１１は警報信号受信部及び位置情報受信部に対応する。 FIG. 9 is a block diagram showing a configuration example of the remote monitoring device according to the second embodiment. In FIG. 9, the parts corresponding to the parts of FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted. In addition to the configuration of FIG. 2, the remote monitoring device 10a shown in FIG. 9 includes a wireless communication status information acquisition unit 16, an alarm factor wireless communication area estimation unit 17, and an alarm factor wireless communication area estimation information output unit 18. , Equipped with. The functions of each part of the remote monitoring device 10a shown in FIG. 9 are realized by the CPU included in the remote monitoring device 10a executing a computer program. In the present embodiment, the communication unit 11 corresponds to the alarm signal receiving unit and the position information receiving unit.

通信部１１は、自動運転車両２から位置情報を受信する。無線通信状況情報取得部１６は、セルラーＮＷ４内の各無線通信エリアの通信の状況を示す無線通信状況情報を取得する。無線通信状況情報は、例えば、セルラーＮＷ４の各無線通信エリアの通信状況を報知するサーバから、遠隔監視装置１０ａへ提供される。 The communication unit 11 receives the position information from the autonomous driving vehicle 2. The wireless communication status information acquisition unit 16 acquires wireless communication status information indicating the communication status of each wireless communication area in the cellular NW4. The wireless communication status information is provided to the remote monitoring device 10a from, for example, a server that notifies the communication status of each wireless communication area of the cellular NW4.

警報要因無線通信エリア推定部１７は、通信部１１が受信した位置情報及び無線通信状況情報取得部１６が取得した無線通信状況情報に基づいて、警報の要因になり得る無線通信エリア（警報要因無線通信エリア）を判断する。この警報要因無線通信エリア判断方法として、通信部１１が受信した位置情報が示す自動運転車両２の現在位置の周辺の無線通信エリアの中に特定の通信状況である無線通信エリアが存在する場合、当該特定の通信状況である無線通信エリアを警報要因無線通信エリアとして判断する。特定の通信状況は、例えば高レベルの輻輳が発生している状況等の通信に悪影響が及ぶ可能性がある状況である。 The alarm factor wireless communication area estimation unit 17 is a wireless communication area (alarm factor radio) that can be a factor of an alarm based on the position information received by the communication unit 11 and the wireless communication status information acquired by the wireless communication status information acquisition unit 16. Communication area) is judged. As a method for determining the alarm factor wireless communication area, when there is a wireless communication area having a specific communication status in the wireless communication area around the current position of the autonomous driving vehicle 2 indicated by the position information received by the communication unit 11. The wireless communication area, which is the specific communication status, is determined as the alarm factor wireless communication area. A particular communication situation is one in which communication may be adversely affected, for example in a situation where a high level of congestion is occurring.

警報要因無線通信エリア推定情報出力部１８は、警報要因無線通信エリア推定部１７が判断した結果の警報要因無線通信エリアを示す警報要因無線通信エリア推定情報を監視端末３０へ出力する。監視端末３０は、遠隔監視装置１０から受けた警報要因無線通信エリア推定情報を、表示画面に表示する。監視者は、監視端末３０の表示画面に表示された警報要因無線通信エリア推定情報で示される警報要因無線通信エリアを認識する。監視者は、警報要因無線通信エリアを利用しなくてもよい走行経路を、自動運転車両２へ指示する等の対処を行う。自動運転車両２に対して警報要因無線通信エリアを利用することを回避させることにより、警報要因無線通信エリアで異常状態が発生して自動運転車両２から発信される警報信号が遠隔監視装置１０ａに届かなくなることを未然に防止することができる。これにより、自動運転車両の警報状態を遠隔で監視する際のさらなる精度向上を図ることができる。 The alarm factor wireless communication area estimation information output unit 18 outputs the alarm factor wireless communication area estimation information indicating the alarm factor wireless communication area as a result of the determination by the alarm factor wireless communication area estimation unit 17 to the monitoring terminal 30. The monitoring terminal 30 displays the alarm factor wireless communication area estimation information received from the remote monitoring device 10 on the display screen. The observer recognizes the alarm factor wireless communication area indicated by the alarm factor wireless communication area estimation information displayed on the display screen of the monitoring terminal 30. The observer takes measures such as instructing the autonomous driving vehicle 2 on a travel route that does not require the use of the alarm factor wireless communication area. By avoiding the use of the alarm factor wireless communication area for the autonomous driving vehicle 2, an abnormal state occurs in the alarm factor wireless communication area and an alarm signal transmitted from the autonomous driving vehicle 2 is transmitted to the remote monitoring device 10a. It is possible to prevent it from being out of reach. As a result, it is possible to further improve the accuracy when remotely monitoring the alarm state of the autonomous driving vehicle.

以上、本発明の実施形態について図面を参照して詳述してきたが、具体的な構成はこの実施形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。 Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes design changes and the like within a range that does not deviate from the gist of the present invention.

上述した各装置の機能を実現するためのコンピュータプログラムをコンピュータ読み取り可能な記録媒体に記録して、この記録媒体に記録されたプログラムをコンピュータシステムに読み込ませ、実行するようにしてもよい。なお、ここでいう「コンピュータシステム」とは、ＯＳや周辺機器等のハードウェアを含むものであってもよい。
また、「コンピュータ読み取り可能な記録媒体」とは、フレキシブルディスク、光磁気ディスク、ＲＯＭ、フラッシュメモリ等の書き込み可能な不揮発性メモリ、ＤＶＤ（Digital Versatile Disc）等の可搬媒体、コンピュータシステムに内蔵されるハードディスク等の記憶装置のことをいう。 A computer program for realizing the functions of the above-mentioned devices may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by the computer system and executed. The "computer system" here may include hardware such as an OS and peripheral devices.
The "computer-readable recording medium" is a flexible disk, a magneto-optical disk, a ROM, a writable non-volatile memory such as a flash memory, a portable medium such as a DVD (Digital Versatile Disc), and a built-in computer system. A storage device such as a hard disk.

さらに「コンピュータ読み取り可能な記録媒体」とは、インターネット等のネットワークや電話回線等の通信回線を介してプログラムが送信された場合のサーバやクライアントとなるコンピュータシステム内部の揮発性メモリ（例えばＤＲＡＭ（Dynamic Random Access Memory））のように、一定時間プログラムを保持しているものも含むものとする。
また、上記プログラムは、このプログラムを記憶装置等に格納したコンピュータシステムから、伝送媒体を介して、あるいは、伝送媒体中の伝送波により他のコンピュータシステムに伝送されてもよい。ここで、プログラムを伝送する「伝送媒体」は、インターネット等のネットワーク（通信網）や電話回線等の通信回線（通信線）のように情報を伝送する機能を有する媒体のことをいう。
また、上記プログラムは、前述した機能の一部を実現するためのものであっても良い。さらに、前述した機能をコンピュータシステムにすでに記録されているプログラムとの組み合わせで実現できるもの、いわゆる差分ファイル（差分プログラム）であっても良い。 Furthermore, the "computer-readable recording medium" is a volatile memory inside a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line (for example, DRAM (Dynamic)). It also includes those that hold the program for a certain period of time, such as Random Access Memory)).
Further, the program may be transmitted from a computer system in which this program is stored in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting a program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the above-mentioned functions. Further, a so-called difference file (difference program) may be used, which can realize the above-mentioned function in combination with a program already recorded in the computer system.

１，１ａ…遠隔監視システム、２…自動運転車両、３…管制センター、４…セルラーＮＷ、１０，１０ａ…遠隔監視装置、１１…通信部、１２…警報発信区間判断部、１３…警報要因箇所判断部、１４…警報要因箇所情報出力部、１５…警報区間判定テーブル記憶部、１６…無線通信状況情報取得部、１７…警報要因無線通信エリア推定部、１８…警報要因無線通信エリア推定情報出力部、２１…通信端末、２２…車載装置、３０…監視端末、４１…ＮＷ装置 1,1a ... remote monitoring system, 2 ... automatic driving vehicle, 3 ... control center, 4 ... cellular NW, 10,10a ... remote monitoring device, 11 ... communication unit, 12 ... alarm transmission section determination unit, 13 ... alarm factor location Judgment unit, 14 ... alarm factor location information output unit, 15 ... alarm section determination table storage unit, 16 ... wireless communication status information acquisition unit, 17 ... alarm factor wireless communication area estimation unit, 18 ... alarm factor wireless communication area estimation information output Department, 21 ... Communication terminal, 22 ... In-vehicle device, 30 ... Monitoring terminal, 41 ... NW device

Claims

In a remote monitoring device that remotely monitors the status of an autonomous vehicle by communicating via a communication network
An alarm that stores an alarm section determination table that associates a plurality of alarm transmission sections on a communication path from the automatically driven vehicle to the remote monitoring device with source identification information that identifies an alarm transmission source existing in each alarm transmission section. Section judgment table storage unit and
An alarm signal receiving unit that receives an alarm signal transmitted from the autonomous driving vehicle and the communication network via the communication network.
An alarm transmission section determination unit that determines an alarm transmission section in which the alarm signal is transmitted based on the source identification information included in the alarm signal received by the alarm signal reception unit and the alarm section determination table.
Based on the result of the determination by the alarm transmission section determination unit, the alarm factor location determination unit that determines the alarm factor location where the alarm factor exists, and the alarm factor location determination unit.
An alarm factor location information output unit that outputs alarm factor location information indicating an alarm factor location as a result of determination by the alarm factor location determination unit, and an alarm factor location information output unit.
Equipped with
The warning section determination table is
The communication path from the automated driving vehicle to the remote monitoring device includes a first alarm transmission section from the in-vehicle device group provided in the automated driving vehicle to the communication terminal provided in the automated driving vehicle, and a wireless communication network from the communication terminal. It is divided into a second alarm transmission section up to and a third alarm transmission section from the wireless communication network to the remote monitoring device.
A first source identification information for identifying an alarm source existing in the first alarm transmission section, a second source identification information for identifying an alarm source existing in the second alarm transmission section, and a second source identification information. Stores the third source identification information for identifying the alarm source existing in the third alarm transmission section.
Remote monitoring device.

The alarm factor location information output unit
When the warning signal from the second warning transmission section is received, "the warning factor location" communication terminal ", however, it is unknown whether or not the in-vehicle device group of the autonomously driven vehicle is the warning factor location." Outputs the alarm factor location information indicating
When the alarm signal from the third alarm transmission section is received, the "alarm factor location" network device in the wireless communication network ", except that the in-vehicle device group and the communication terminal in the autonomous driving vehicle are the alarm factor locations. Outputs alarm factor location information indicating "it is unknown whether or not it exists",
The remote monitoring device according to claim 1.

A position information receiving unit that receives position information indicating the position of the autonomous driving vehicle from the autonomous driving vehicle, and a position information receiving unit.
A wireless communication status information acquisition unit that acquires wireless communication status information indicating the communication status of each wireless communication area in the communication network, and
An alarm factor wireless communication area estimation unit that determines a wireless communication area that can be an alarm factor based on the location information and the wireless communication status information.
The alarm factor wireless communication area estimation information output unit that outputs the alarm factor wireless communication area estimation information indicating the wireless communication area as a result of the determination by the alarm factor wireless communication area estimation unit, and the alarm factor wireless communication area estimation information output unit.
The remote monitoring device according to claim 1.

To the computer of the remote monitoring device that remotely monitors the state of the autonomous driving vehicle by communication via the communication network
An alarm section determination table that associates a plurality of alarm transmission sections on the communication path from the automatically driven vehicle to the remote monitoring device with the source identification information that identifies the alarm transmission source existing in each alarm transmission section is determined. The alarm section determination table storage step to be stored in the table storage unit,
An alarm signal receiving step for receiving an alarm signal transmitted from the autonomous driving vehicle and the communication network via the communication network, and
An alarm transmission section determination step for determining an alarm transmission section in which the alarm signal is transmitted based on the source identification information included in the alarm signal received by the alarm signal reception step and the alarm section determination table.
Based on the result determined by the alarm transmission section determination step, the alarm factor location determination step for determining the alarm factor location where the alarm factor exists, and the alarm factor location determination step.
An alarm factor location information output step that outputs alarm factor location information indicating an alarm factor location as a result of the determination by the alarm factor location determination step, and
Is a computer program for executing
The warning section determination table is
The communication path from the automated driving vehicle to the remote monitoring device includes a first alarm transmission section from the in-vehicle device group provided in the automated driving vehicle to the communication terminal provided in the automated driving vehicle, and a wireless communication network from the communication terminal. It is divided into a second alarm transmission section up to and a third alarm transmission section from the wireless communication network to the remote monitoring device.
A first source identification information for identifying an alarm source existing in the first alarm transmission section, a second source identification information for identifying an alarm source existing in the second alarm transmission section, and a second source identification information. Stores the third source identification information for identifying the alarm source existing in the third alarm transmission section.
Computer program.

The alarm factor location information output step is
When the warning signal from the second warning transmission section is received, "the warning factor location" communication terminal ", however, it is unknown whether or not the in-vehicle device group of the autonomously driven vehicle is the warning factor location." Outputs the alarm factor location information indicating
When the alarm signal from the third alarm transmission section is received, the "alarm factor location" network device in the wireless communication network ", except that the in-vehicle device group and the communication terminal in the autonomous driving vehicle are the alarm factor locations. Outputs alarm factor location information indicating "it is unknown whether or not it exists",
The computer program according to claim 4.

It is a remote monitoring method for a remote monitoring device that remotely monitors the status of an autonomous vehicle by communicating via a communication network.
An alarm section in which the remote monitoring device associates a plurality of alarm transmission sections on a communication path from the automatically driven vehicle to the remote monitoring device with source identification information for identifying an alarm source existing in each alarm transmission section. An alarm section judgment table storage step for storing the judgment table in the warning section judgment table storage unit, and
An alarm signal receiving step in which the remote monitoring device receives an alarm signal transmitted from the autonomous driving vehicle and the communication network via the communication network.
The remote monitoring device determines the alarm transmission section in which the alarm signal is transmitted based on the source identification information included in the alarm signal received by the alarm signal reception step and the alarm section determination table. Steps and
Based on the result of the determination by the alarm transmission section determination step, the remote monitoring device determines the alarm factor location where the alarm factor exists, and the alarm factor location determination step.
The remote monitoring device outputs the alarm factor location information indicating the alarm factor location as a result of the determination by the alarm factor location determination step, and the alarm factor location information output step.
It is a remote monitoring method including
The warning section determination table is
The communication path from the automated driving vehicle to the remote monitoring device includes a first alarm transmission section from the in-vehicle device group provided in the automated driving vehicle to the communication terminal provided in the automated driving vehicle, and a wireless communication network from the communication terminal. It is divided into a second alarm transmission section up to and a third alarm transmission section from the wireless communication network to the remote monitoring device.
A first source identification information for identifying an alarm source existing in the first alarm transmission section, a second source identification information for identifying an alarm source existing in the second alarm transmission section, and a second source identification information. Stores the third source identification information for identifying the alarm source existing in the third alarm transmission section.
Remote monitoring method.

The alarm factor location information output step is
When the warning signal from the second warning transmission section is received, "the warning factor location" communication terminal ", however, it is unknown whether or not the in-vehicle device group of the autonomously driven vehicle is the warning factor location." Outputs the alarm factor location information indicating
When the alarm signal from the third alarm transmission section is received, the "alarm factor location" network device in the wireless communication network ", except that the in-vehicle device group and the communication terminal in the autonomous driving vehicle are the alarm factor locations. Outputs alarm factor location information indicating "it is unknown whether or not it exists",
The remote monitoring method according to claim 6.