A method for monitoring a vehicle (1000, 2100), the method comprising: determining, by a signal processing system of a controller apparatus external to the vehicle, a data transfer rate of a plurality of signals received from the vehicle (1000, 2100), the plurality of signals including state data of the vehicle and external data associated with objects external to the vehicle, the state data and external data including sensor data of an optical sensor of the vehicle; determining, by the signal processing system, whether the data transfer rate is below a predetermined data transfer rate threshold or within a data rate transfer threshold range; when the data transfer rate is determined below the predetermined data transfer rate threshold or within a data rate transfer threshold range, determining, by the signal processing system and using the state data and external data associated with the objects external to the vehicle, a location of the vehicle and a location of at least one of a plurality of potential objects that obstruct at least one of the plurality of signals; the method being characterised by the following steps: generating, by an image processing system of the controller apparatus, image data using any of the state data and external data; generating, by the image processing system, an image using the image data; sending, by a communication unit of the controller apparatus, a prioritized sensor data message to the vehicle (1000, 2100), the prioritized sensor data message including a request for prioritized sensor data from the plurality of sensors, the prioritized sensor data including a prioritized listing of the plurality of sensors based on sensor obstruction data relating to the position of the vehicle relative to the objects that obstruct the signals, which can dynamically generate the priority of the sensors based on obstructions; and receiving, by the communication unit of the controller apparatus, the sensor data from the vehicle (1000, 2100) in an order using the prioritized listing. determining, by a signal processing system of a controller apparatus external to the vehicle, a data transfer rate of a plurality of signals received from the vehicle (1000, 2100), the plurality of signals including state data of the vehicle and external data associated with objects external to the vehicle, the state data and external data including sensor data of an optical sensor of the vehicle; determining, by the signal processing system, whether the data transfer rate is below a predetermined data transfer rate threshold or within a data rate transfer threshold range; when the data transfer rate is determined below the predetermined data transfer rate threshold or within a data rate transfer threshold range, determining, by the signal processing system and using the state data and external data associated with the objects external to the vehicle, a location of the vehicle and a location of at least one of a plurality of potential objects that obstruct at least one of the plurality of signals; the method being characterised by the following steps: generating, by an image processing system of the controller apparatus, image data using any of the state data and external data; generating, by the image processing system, an image using the image data; sending, by a communication unit of the controller apparatus, a prioritized sensor data message to the vehicle (1000, 2100), the prioritized sensor data message including a request for prioritized sensor data from the plurality of sensors, the prioritized sensor data including a prioritized listing of the plurality of sensors based on sensor obstruction data relating to the position of the vehicle relative to the objects that obstruct the signals, which can dynamically generate the priority of the sensors based on obstructions; and receiving, by the communication unit of the controller apparatus, the sensor data from the vehicle (1000, 2100) in an order using the prioritized listing. generating, by an image processing system of the controller apparatus, image data using any of the state data and external data; generating, by the image processing system, an image using the image data; sending, by a communication unit of the controller apparatus, a prioritized sensor data message to the vehicle (1000, 2100), the prioritized sensor data message including a request for prioritized sensor data from the plurality of sensors, the prioritized sensor data including a prioritized listing of the plurality of sensors based on sensor obstruction data relating to the position of the vehicle relative to the objects that obstruct the signals, which can dynamically generate the priority of the sensors based on obstructions; and receiving, by the communication unit of the controller apparatus, the sensor data from the vehicle (1000, 2100) in an order using the prioritized listing.