PURPOSES : Accidents involving autonomous vehicle continue to occur. However, research on autonomous vehicle monitoring has been insufficient. The purpose of this study is to develop monitoring indicators from the perspective of vehicles and road infrastructure for the safe driving of autonomous vehicles. In addition, the purpose is to monitor autonomous vehicles and road environments using the monitoring indicators developed, as well as to analyze the characteristics of road sections where autonomous vehicles exhibit abnormalities. METHODS : Data from Pangyo Zero Shuttle, an autonomous vehicle, were used in this study. Infrastructure data installed in Pangyo Zero City were used. The data were collected from June 2019 to July 2019, during the normal driving period of the zero shuttle. The five monitoring indicators were developed by combining the vehicle operation information table collected from the V2X device of the zero shuttle and the road environment monitoring detail table collected from the infrastructure data with the road section table. In addition, an analysis of road characteristics with frequent errors is performed for each monitoring indicator. RESULTS : The three monitoring indicators from the perspective of the vehicle allowed monitoring of the sensor error, sensor communication error, and yaw rate error of the autonomous vehicle's timing and road section. In addition, the two monitoring indicators from the infrastructure perspective enabled the monitoring of events and road surface conditions on roads where autonomous vehicles drive. As a result of analyzing the road characteristics that frequently caused errors by monitoring indicators, sensor errors frequently occurred in the section waiting to enter the left-turn lane. Sensor communication errors are left-turn standby and have occurred frequently on road sections where U-turns are allowed. Finally, yaw rate error occurred frequently in sections of roads where there were no induction lines or where changes to lanes occurred frequently. CONCLUSIONS : The five monitoring indicators developed in this study allowed the monitoring of autonomous vehicles and roads. The results of this study are expected to help the safe driving of autonomous vehicles and contribute to the detection of autonomous driving abnormalities and the provision of real-time road condition information through further analysis.

EU는 순환경제로 진척상황을 평가하기 위한 지표를 확정하고 평가 지표별 추이를 모니터링하고 있다. 일본 역시 국내보다 앞서 순환형형성촉진기본법을 제정하여 시행하고 있고 폐기물관리 부문에서 자원순환으로의 진척상황을 평가하기 위한 지표가 운영되고 있다. 한편 국내는 순환경제 정책을 추진하고자 하는 의지를 확인할 수 있다. 바람직한 설정이다. 다만 이 같은 정책변화 노력과 함께 EU나 일본 사례와 같이 새롭게 도입된 정책이 잘 정착하였는지? 또는 진척이 있는지에 대한 평가지표를 통해 확인할 필요가 있다. 이러한 점에서 본 연구는 EU 일본 그리고 국내를 대상으로 평가지표 사례를 비교해보고 개선할 점이 있는지 살펴보았다. 국가별 평가지표 사례에서 국내 평가 지표 3가지는 출구(폐기단계)부문에 한정하고 있어 향후 순환경제사회실현을 위한 여러 시책 수립에 제한된 정보만을 제공할 것이다. 순환경제 사회를 구축하기 위해 얼마나 많은 자원을 채취, 소비, 폐기하고 있는지? 그리고 물질의 순환이용, 나아가 사회에 투입되는 물질 전반의 효율적인 이용을 판단하기 위해서는 입구 단계부터 파악하여야 하는 점에서 보면 現 목표 설정지표는 개선이 필요하다. 앞으로 추진하려는 순환경제 정책에 부합한 전략을 마련하고 그 전략에 부합한 평가지표를 설정할 필요가 있다.