Monitoring control system, monitoring control device, and monitoring control method

1. A monitoring control system comprising a mobile object and a server device that communicates with the mobile object via a network, wherein

the mobile object includes:

a first communication unit that communicates with the server device via the network;

a camera that captures an image;

an encoding unit that generates image data from the image captured by the camera, the image data including a key frame inserted at a predetermined interval and a difference frame including a difference from the key frame;

a transmitting unit that transmits the image data generated by the encoding unit to the server device via the first communication unit; and

a movement control unit that controls movement of the mobile object according to a control signal received from the server device via the first communication unit, and

the server device includes:

a second communication unit that communicates with the mobile object via the network; and

an emergency control signal transmitting unit that transmits an emergency control signal to the mobile object via the second communication unit when at least a part of the key frame among the image data transmitted from the mobile object is not received within a predetermined period.

2. The monitoring control system according to claim 1 , wherein

the emergency control signal is a signal for instructing emergency control based on either restriction of a moving speed of the mobile object or emergency stop of the mobile object.

3. The monitoring control system according to claim 2 , wherein

the server device stores emergency control information that correlates a loss rate of the key frame and an emergency control method such that the higher the loss rate of the key frame, the lower the moving speed of the mobile object is restricted to,

the server device includes:

a key frame loss rate computing unit that computes the loss rate of the key frame on the basis of whether at least a part of the key frame is received within the predetermined period; and

an emergency control determining unit that determines an emergency control method corresponding to the computed key frame loss rate on the basis of the emergency control information, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

4. The monitoring control system according to claim 2 , wherein

the movement control unit executes control according to any one of movement modes including automated driving and remote-controlled driving based on a control signal received from the server device in order to control the movement of the mobile object,

the server device stores emergency control information that correlates the movement mode and the emergency control method with each other such that the moving speed of the mobile object during the remote-controlled driving is restricted to be lower than that during the automated driving, and stores the movement mode of the control being executed in the mobile object,

the server device includes an emergency control determining unit that determines an emergency control method corresponding to the stored movement mode on the basis of the emergency control information, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

5. The monitoring control system according to claim 2 , wherein

the movement control unit executes control according to any one of movement modes including automated driving and remote-controlled driving based on a control signal received from the server device in order to control the movement of the mobile object,

the server device stores emergency control information that correlates the movement mode, the key frame loss rate, and the emergency control method with each other such that the moving speed of the mobile object during the remote-controlled driving is restricted to be lower than that during the automated driving, and the higher the key frame loss rate, the lower the moving speed of the mobile object is restricted to, and stores the movement mode of the control being executed in the mobile object,

the server device includes:

a key frame loss rate computing unit that computes a loss rate of the key frame on the basis of whether at least a part of the key frame is received within the predetermined period; and

an emergency control determining unit that determines an emergency control method corresponding to the stored movement mode and the computed key frame loss rate on the basis of the emergency control information, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

6. The monitoring control system according to claim 2 , wherein

the server device stores a threshold of the difference frame loss rate set such that the higher the key frame loss rate, the lower the threshold,

the server device includes:

a key frame loss rate computing unit that computes the loss rate of the key frame on the basis of whether at least a part of the key frame is received within the predetermined period;

a difference frame loss rate computing unit that computes the difference frame loss rate on the basis of whether at least a part of the difference frame is received within a predetermined period; and

an emergency control determining unit that determines that emergency control is to be executed when the computed difference frame loss rate is equal to or larger than the threshold corresponding to the computed key frame loss rate, and

the emergency control signal transmitting unit transmits the emergency control signal when the emergency control determining unit determines that the emergency control is to be executed.

7. The monitoring control system according to claim 2 , wherein

the movement control unit executes control according to any one of movement modes including automated driving and remote-controlled driving based on a control signal received from the server device in order to control the movement of the mobile object,

the server device stores emergency control information that correlates the movement mode and the emergency control method with each other such that the moving speed of the mobile object during the remote-controlled driving is restricted to be lower than that during the automated driving, and stores a threshold of the difference frame loss rate set such that the higher the key frame loss rate, the lower the threshold,

the server device includes:

a key frame loss rate computing unit that computes the key frame loss rate on the basis of whether at least a part of the key frame is received within a predetermined period;

a difference frame loss rate computing unit that computes the difference frame loss rate on the basis of whether at least a part of the difference frame is received within a predetermined period; and

an emergency control determining unit that determines an emergency control method corresponding to the stored movement mode on the basis of the emergency control information when the computed difference frame loss rate is equal to or larger than the threshold corresponding to the computed key frame loss rate, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

8. A monitoring control device comprising a communication unit that communicates with a mobile object and an emergency control signal transmitting unit that transmits an emergency control signal via the communication unit, wherein

the communication unit receives image data transmitted from the mobile object, the image data including a key frame inserted at a predetermined interval and a difference frame including a difference from the key frame, and

the emergency control signal transmitting unit transmits an emergency control signal to the mobile object via the communication unit when at least a part of the key frame among the image data transmitted from the mobile object is not received within a predetermined period.

9. The monitoring control device according to claim 8 , wherein

the emergency control signal is a signal for instructing emergency control based on either restriction of a moving speed of the mobile object or emergency stop of the mobile object.

10. The monitoring control device according to claim 9 , wherein

the monitoring control device stores emergency control information that correlates a loss rate of the key frame and an emergency control method such that the higher the loss rate of the key frame, the lower the moving speed of the mobile object is restricted to,

the monitoring control device includes:

a key frame loss rate computing unit that computes the loss rate of the key frame on the basis of whether at least a part of the key frame is received within the predetermined period; and

an emergency control determining unit that determines an emergency control method corresponding to the computed key frame loss rate on the basis of the emergency control information, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

11. The monitoring control device according to claim 9 , wherein

the mobile object executes control according to any one of movement modes including automated driving and remote-controlled driving based on a control signal received from the server device,

the monitoring control device stores emergency control information that correlates the movement mode and the emergency control method with each other such that the moving speed of the mobile object during the remote-controlled driving is restricted to be lower than that during the automated driving, and stores the movement mode of the control being executed in the mobile object,

the monitoring control device includes an emergency control determining unit that determines an emergency control method corresponding to the stored movement mode on the basis of the emergency control information, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

12. The monitoring control device according to claim 9 , wherein

the mobile object executes control according to any one of movement modes including automated driving and remote-controlled driving based on a control signal received from the server device,

the monitoring control device stores emergency control information that correlates the movement mode, the key frame loss rate, and the emergency control method with each other such that the moving speed of the mobile object during the remote-controlled driving is restricted to be lower than that during the automated driving and the higher the key frame loss rate, the lower the moving speed of the mobile object is restricted to, and stores the movement mode of the control being executed in the mobile object,

the monitoring control device includes:

a key frame loss rate computing unit that computes a loss rate of the key frame on the basis of whether at least a part of the key frame is received within the predetermined period; and

an emergency control determining unit that determines an emergency control method corresponding to the stored movement mode and the computed key frame loss rate on the basis of the emergency control information, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

13. The monitoring control device according to claim 9 , wherein

the monitoring control device stores a threshold of the difference frame loss rate set such that the higher the key frame loss rate, the lower the threshold,

the monitoring control device includes:

a key frame loss rate computing unit that computes the loss rate of the key frame on the basis of whether at least a part of the key frame is received within the predetermined period;

a difference frame loss rate computing unit that computes the difference frame loss rate on the basis of whether at least a part of the difference frame is received within a predetermined period; and

an emergency control determining unit that determines that emergency control is to be executed when the computed difference frame loss rate is equal to or larger than the threshold corresponding to the computed key frame loss rate, and

the emergency control signal transmitting unit transmits the emergency control signal when the emergency control determining unit determines that the emergency control is to be executed.

14. The monitoring control device according to claim 9 , wherein

the mobile object executes control according to any one of movement modes including automated driving and remote-controlled driving based on a control signal received from the server device,

the monitoring control device stores emergency control information that correlates the movement mode and the emergency control method with each other such that the moving speed of the mobile object during the remote-controlled driving is restricted to be lower than that during the automated driving, and stores a threshold of the difference frame loss rate set such that the higher the key frame loss rate, the lower the threshold,

the monitoring control device includes:

a key frame loss rate computing unit that computes the key frame loss rate on the basis of whether at least a part of the key frame is received within a predetermined period;

a difference frame loss rate computing unit that computes the difference frame loss rate on the basis of whether at least a part of the difference frame is received within a predetermined period; and

an emergency control determining unit that determines an emergency control method corresponding to the stored movement mode on the basis of the emergency control information when the computed difference frame loss rate is equal to or larger than the threshold corresponding to the computed key frame loss rate, and

the emergency control signal transmitting unit transmits the emergency control signal for executing the emergency control method determined by the emergency control determining unit.

15. A monitoring control method executed by a monitoring control system including a mobile object and a server device that communicates with the mobile object via a network, wherein

the mobile object includes:

a first communication unit that communicates with the server device via the network;

a camera that captures an image;

a movement control unit that controls movement of the mobile object; and

a first information processing unit connected to the camera and the movement control unit,

the server device includes:

a second communication unit that communicates with the mobile object via the network; and

a second information processing unit connected to the second communication unit, and

the monitoring control method comprises:

a first procedure of causing the first information processing unit to generate image data from the image captured by the camera, the image data including a key frame inserted at a predetermined interval and a difference frame including a difference from the key frame;

a second procedure of causing the first information processing unit to transmit the image data to the server device via the first communication unit; and

a third procedure of causing the second information processing unit to transmit an emergency control signal to the mobile object via the second communication unit when at least a part of the key frame among the image data transmitted from the mobile object is not received within a predetermined period.