CN114071160A - Data interaction method and system for remote vehicle control, control device and storage medium - Google Patents
Data interaction method and system for remote vehicle control, control device and storage medium Download PDFInfo
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- CN114071160A CN114071160A CN202111227041.0A CN202111227041A CN114071160A CN 114071160 A CN114071160 A CN 114071160A CN 202111227041 A CN202111227041 A CN 202111227041A CN 114071160 A CN114071160 A CN 114071160A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
- H04N19/59—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving spatial sub-sampling or interpolation, e.g. alteration of picture size or resolution
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/42—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The invention discloses a data interaction method, a system, a control device and a storage medium for remote vehicle control, wherein the data interaction method for remote vehicle control can effectively solve the problem that remote driving technology cannot be realized due to the fact that data transmission cannot be carried out under the conditions of no 4G network and no 5G network by adopting radio communication, and the display resolution ratios of different cameras are configured, the resolution ratios of images acquired by different cameras are reduced according to actual needs, and data acquired by the cameras are encoded by H265, so that the data volume to be transmitted by data can be effectively reduced, the total bandwidth of data transmission is reduced, and the stability and the efficiency of data transmission are improved; meanwhile, the method can well adapt to the actual requirements of the display content layout of different devices, and realizes effective compatibility of various technical effects.
Description
Technical Field
The invention relates to the field of remote driving, in particular to a remote data interaction system, a remote data interaction control device and a storage medium for remote vehicle control.
Background
The remote driving technology is characterized in that sensing data of a vehicle is transmitted to a remote control cabin through a 4G or 5G network, and a worker remotely controls the vehicle in the remote control cabin.
At present, the control of a driving end on a remote vehicle mainly depends on a video image of the surrounding environment of the vehicle, which is acquired by a camera device installed on the remote vehicle, and the driving end does not have the coverage of a 4G/5G network in application scenes such as a plurality of industrial and mining fields, construction sites and the like, so that the remote driving technology is often difficult to apply.
Disclosure of Invention
The present invention is directed to solve the above problems in the prior art, and provides a remote data interactive system, a control device and a storage medium for remote vehicle control.
The purpose of the invention is realized by the following technical scheme:
the remote data interaction method of the remote vehicle control system comprises the following steps:
s10, transmitting the display configuration data of the driving control end to the remote vehicle through radio;
s20, the remote vehicle determines a first resolution ratio to be displayed on a display device of the driving control end by the cameras in the group of cameras needing to transmit data to the driving control end and each camera needing to transmit data to the driving control end according to the received display configuration data, and determines a second resolution ratio currently set by each camera needing to transmit data to the driving control end;
s30, judging the size of a first resolution and a second resolution corresponding to each camera needing to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, encoding the video image according to the second resolution and the H265 encoding standard; when the first resolution is lower than the second resolution, the video image is coded according to the first resolution and an H265 coding standard, and the coded data is transmitted to a driving control end through radio;
and S40, the driving control end decodes and displays the data transmitted by the remote vehicle.
Preferably, in the remote data interaction method of the remote vehicle control system, the distance between the driving control end and the remote vehicle is within a range of 1-5 km.
Preferably, in the remote data interaction method of the remote vehicle control system, the display configuration data is transmitted to the remote vehicle through a data transmission channel.
Preferably, in the remote data interaction method of the remote vehicle control system, the second operation host of the remote vehicle acquires data of the vehicle control unit of the remote vehicle through the CAN bus and transmits the data to the driving control end through a wireless data transmission channel for display.
Preferably, in the remote data interaction method of the remote vehicle control system, the driving control end displays the received multiple paths of data in a partition manner, and when a certain data is compressed according to the second resolution, the driving control end amplifies the decoded data to the corresponding first resolution and displays the data.
Preferably, in the remote data interaction method of the remote vehicle control system, the display configuration data includes a number of each camera, whether an identification bit needs to be transmitted, and a resolution to be displayed on the display device, and the driving control end continuously sends the display configuration data to the remote vehicle until it receives a feedback signal of successfully receiving the display configuration data fed back by the remote vehicle.
The data interaction method for remote vehicle control comprises the following steps:
s1, receiving display configuration data transmitted by the driving control terminal through radio, and determining a camera needing to transmit data to the driving control terminal in a group of cameras according to the display configuration data;
s2, determining a first resolution to be displayed on a display device of the driving control end by each camera needing to transmit data to the driving control end and determining a second resolution currently set by each camera needing to transmit data to the driving control end;
s3, judging the sizes of a first resolution and a second resolution corresponding to a camera which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, encoding the video image according to the second resolution and the H265 encoding standard; when the first resolution is smaller than the second resolution, the video image is coded according to the first resolution and the H265 coding standard;
and S4, transmitting the coded data to a driving control end by radio for display.
A remote data interactive system for remote vehicle control comprises
The camera determining unit to be transmitted is used for receiving display configuration data transmitted by the driving control end through radio and determining a camera which needs to transmit data to the driving control end in a group of cameras according to the display configuration data;
the system comprises a resolution determining unit, a display unit and a control unit, wherein the resolution determining unit is used for determining a first resolution to be displayed on a display device of a driving control end by each camera which needs to transmit data to the driving control end and determining a second resolution currently set by each camera which needs to transmit data to the driving control end;
the compression unit is used for judging the sizes of a first resolution and a second resolution corresponding to a camera which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, the video image is encoded according to the second resolution and an H265 encoding standard; when the first resolution is smaller than the second resolution, the video image is coded according to the first resolution and the H265 coding standard;
and the transmission unit is used for transmitting the coded data to the driving control end through radio for display.
The control device comprises a memory and a processor, wherein the memory stores programs, and the programs realize the data interaction method for remote vehicle control when executed.
A storage medium having stored thereon a program which, when executed, implements the above-described data interaction method for remote vehicle control.
The technical scheme of the invention has the advantages that:
by adopting the scheme, the problem that the remote driving technology cannot be realized due to the fact that data transmission cannot be carried out under the conditions of no 4G network and no 5G network can be effectively solved, and the display resolutions of different cameras are configured, the resolutions of images acquired by the different cameras are reduced according to actual needs, and the data acquired by the cameras are encoded by H265, so that the data volume to be transmitted can be effectively reduced, the total bandwidth of data transmission is reduced, and the stability and the efficiency of data transmission are improved; meanwhile, the method can well adapt to the actual requirements of the display content layout of different devices, and realizes effective compatibility of various technical effects.
Drawings
FIG. 1 is a schematic diagram of a remote control system of the present invention;
FIG. 2 is a schematic diagram of a data interaction method of the present invention.
Detailed Description
Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.
In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.
Example 1
The data interaction method for remote vehicle control disclosed by the invention is explained in the following with reference to the accompanying drawings, and the method is based on a remote vehicle control system, and comprises a driving control end and a remote vehicle communicated with the driving control end, as shown in fig. 1, the driving control end comprises a driving end controller 11, and the driving end controller 11 is connected with an operation component for controlling the actions of vehicle steering, forward and backward movement, light, whistling, digging and the like. The driving end controller 11 is in communication with a first radio transceiver host 12 through a CAN bus, the radio transceiver host is connected with a first arithmetic host 13, the first arithmetic host is at least used for decoding obtained video data and transmitting the video data to a display device for displaying, and CAN also send obtained signals such as sound, pictures and texts to the display device for displaying, and the first arithmetic host 13 is connected with a display device 14 through an HDMI cable.
The first radio transceiver host 12 of the driving control end is connected with a second radio transceiver host 21 of a remote vehicle through radio frequency transmission, the second radio transceiver host 21 is connected with a second operation host 22 through an HDMI cable or an SDI cable, the second operation host 22 is connected with a group of cameras 23 distributed at different positions on the vehicle and sends multi-channel data acquired by the cameras to the driving control end through radio after processing, the second operation host performs image processing on multi-channel video of the cameras, which may include converting analog signals into digital signals, adjusting resolution of images and performing processing such as encoding and compression of the images, and the corresponding processing technology is the prior art and is not described herein. The number of the cameras 23 is usually 4-8, and the cameras 23 are used for collecting environmental data around the vehicle. Meanwhile, the second operation host 22 is connected to a vehicle controller 24 of the vehicle through a CAN bus.
Therefore, data transmission is performed based on a radio station, and the distance between the remote vehicle and the driving control end is between 1 km and 5km, so that the transmission distance can be shortened as much as possible to ensure the stability of data transmission, the radio communication comprises a data transmission channel and a graph transmission channel, and the specific technology of the radio communication, the data transmission channel and the graph transmission channel is known technology and is not described herein again.
The problem of data transmission of a remote control system when the site does not have the coverage of a 4G or 5G network is effectively solved by adopting radio for signal transmission, but the radio does not have very high data bandwidth unlike the 4G/5G network, the data bandwidth is relatively small, the sensitivity of the radio is reduced when the data bandwidth is increased, and the stable transmission distance is shortened. In addition, in a complex worksite environment, radio signals may be greatly affected, resulting in problems of degradation of radio signal strength, signal-to-noise ratio, and the like, and further affecting data bandwidth of image data transmission.
Whereas in a remote driving system there are multiple cameras 23 and the data bandwidth of the radio needs to guarantee the need for multiple cameras 23 to transmit simultaneously. Assuming that the current resolution of each camera 23 is P, setting the data bandwidth required for transmitting the data of the camera 23 at the current resolution as Bmax; in a general manner, the total bandwidth B = Bmax × N required for the N-channel cameras 23 to transmit data is transmitted to the driving control end wirelessly at the maximum size, which requires great waste of data bandwidth, and reduction of system sensitivity, transmission distance, and transmission stability.
Therefore, the method further reduces the amount of data required to be transmitted by adjusting the resolution of the data transmitted by the different cameras 23 while performing data transmission by radio, as shown in fig. 2, and the remote data interaction method of the remote vehicle control system comprises the following steps:
s10, transmitting the display configuration data of the driving control end to the remote vehicle through radio; the display configuration data is configured at the driving control end manually according to actual needs, the display configuration data at least comprises the number of the camera, whether the identification bit needs to be transmitted or not, and the resolution to be displayed on the display device, which are respectively expressed as:
the display configuration data of the first path of camera: (1, flag1, w1 × h 1)
The display configuration data of the second path of cameras are as follows: (2, flag2, w2 × h 2)
………
Display configuration data of the Nth camera: (N, flag N, wN × hN).
And the remote vehicle sends a feedback signal indicating that the configuration data is successfully received to the driving control terminal after receiving the configuration data, and if the driving control terminal does not receive the feedback signal, the remote vehicle continuously sends the configuration data to the remote vehicle until the remote vehicle finally receives the feedback signal, so that the remote vehicle and the driving control terminal can be ensured to establish effective communication. Further, the display configuration data is transmitted to the remote vehicle through a data transmission channel.
Moreover, the display configuration data transmitted to the remote vehicle may only be data corresponding to the camera 23 that needs to transmit data to the driving control end, and the display configuration data corresponding to the camera 23 that does not need to transmit data to the driving control end may not be transmitted to the remote vehicle, so that unnecessary judgment can be reduced, and the data transmission efficiency and the data processing efficiency of the remote vehicle can be further improved.
S20, after receiving the display configuration data, the remote vehicle determines, according to the received display configuration data, a first resolution to be displayed on the display device 14 of the driving control end by the cameras 23 of the group of cameras 23 that need to transmit data to the driving control end and by each camera 23 that needs to transmit data to the driving control end, and a second resolution currently set by each camera 23 that needs to transmit data to the driving control end; specifically, the camera 23 which needs to be displayed and observed and the resolution w × h which needs to be displayed by the camera 23 are screened out according to the flag.
And S30, judging the sizes of the first resolution and the second resolution corresponding to each camera 23 which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, encoding the video image according to the second resolution and the H265 encoding standard, namely directly encoding the data of the camera according to the H265 encoding standard. When the first resolution is smaller than the second resolution, the video image is encoded according to the first resolution and the H265 encoding standard, that is, the video image of the second resolution acquired by the camera is compressed to the first resolution, and then the compressed video image is encoded according to the H265 encoding standard. And the coded data is transmitted to a driving control end by radio for display.
And S40, the driving control end decodes and displays the data transmitted by the remote vehicle. The driving control end displays the received multi-channel data in a partition mode, for example, the data of the camera corresponding to the area needing important attention outside the vehicle is displayed in the left half area of the display device, and the data of the camera corresponding to the other area needing no important attention is displayed in the right half area of the display device. When a certain path of data is compressed according to the second resolution, the driving control end amplifies the decoded data to the corresponding first resolution and then displays the data in the corresponding area on the display device, so that the requirements of different attention requirements of different areas in control can be effectively met. When the data of one camera 23 is displayed according to the first resolution, the driving control end directly displays the decoded data in the display area corresponding to the road camera 23. The specific technique of the partition display is known and will not be described herein.
Of course, in other embodiments, besides the partition display, the panoramic display may also be used. Generally, the length of various engineering vehicles is often more than 5m, and the conventional image fusion technology adopting four front, rear, left and right cameras 23 cannot effectively cover the whole vehicle body. Therefore, in this embodiment, at least 2 cameras 23 are respectively disposed on the left side and the right side of the vehicle, one camera 23 is disposed in front of and behind the vehicle, more preferably, three cameras 23 are respectively disposed on the left side and the right side of the vehicle, the three cameras 23 are located at a position on a side portion of the vehicle head, a position on a side portion of the vehicle body close to the vehicle head, and a position on a side portion of the vehicle body close to the vehicle tail, the driving control end synthesizes data collected by the plurality of cameras 23 into a 360 ° panoramic image and displays the panoramic image on a display, and a corresponding video fusion technology is the prior art and is not described herein.
Further, in the video transmission process, the code rate of each video path also has a large influence on the bandwidth and the transmission stability, and the corresponding relationship between the resolution of each image path and the required code rate can be set as follows: the maximum code rate is (w × h × 3) × 2, the minimum code rate is (w × h × 3)/2, and the code rate of the grayscale map is (w × h × 1), where w × h is the resolution of the image. Taking a 1080P video transmission as an example, when the video is transmitted with high quality, the code rate is the maximum code rate = (1920 × 1080 × 3) × 2 ≈ 8Mbps, and when the video is transmitted with low quality, the code rate is the minimum code rate = (1920 × 1080 × 3)/2 ≈ 2 Mbps. In addition, in the practical research process, it is found that, for a video with a certain resolution, when the code rate is lower than (w × h × 3)/2, the image will have serious mosaic and the viewing will be seriously affected, therefore, (w × h × 3)/2 is set as the minimum code rate, and if the code rate of the currently transmitted video is lower than the minimum code rate, at this time, the currently transmitted image needs to be converted into a gray scale image and transmitted according to the code rate of the gray scale image.
Therefore, when the data collected by the plurality of cameras 23 is transmitted, in addition to adjusting the resolution of the video according to the above process, when the video image is transmitted, the transmission code rate of at least one path of video image can be dynamically adjusted according to the radio signal condition and the packet loss rate on the basis of adjusting the resolution, which specifically includes the following steps:
s00, when the video image transmission is started, the remote vehicle control needs to transmit the image to the driving control terminal at the maximum code rate (W × H × 3) × 2 for each camera 23 that transmits the video to the driving control terminal.
S01, the driving control end feeds back the radio signal strength and the packet loss rate to the remote vehicle in real time through the data transmission channel, the remote vehicle obtains the packet loss rate information fed back by the driving control end, whether the packet loss rate is equal to 0 or not is judged, and when the packet loss rate is determined to be equal to 0, data transmission is stable and no abnormity exists; s02 is performed, and when it is confirmed that the packet loss ratio is not equal to 0, indicating that the current radio signal strength cannot achieve high quality transmission of the image at the current code rate, S03 is performed.
S02, the image transmission is continued at the maximum code rate (W × H × 3) × 2, and S01 is performed, i.e., if the packet loss rate is always 0, the transmission is always performed at the maximum code rate.
S03, adjusting the code rate of the video to be the product of the maximum code rate and the current radio signal intensity according to the current radio signal intensity fed back by the driving control end, wherein the current radio signal intensity is calculated according to the percentage and ranges from 0% to 100%, and at the moment, the adjusted code rate is smaller than the maximum code rate, and S04 is executed;
s04, judging whether the adjusted code rate is larger than the minimum code rate (W multiplied by H multiplied by 3)/2, executing S05 when the adjusted code rate is larger than the minimum code rate, otherwise executing S06.
S05, the image transmission is continued according to the adjusted code rate, and S07 is performed.
S06, the image is converted into a gray scale image and the image transmission is continued according to the gray scale image code rate, and S07 is performed.
S07, continuously acquiring the packet loss rate information fed back by the driving control end, and executing S03 when the packet loss rate is determined to be equal to 0; otherwise, S08 is executed.
S08, increasing the code rate adjustment coefficient according to the times that the packet loss rate is not 0, judging whether the increased code rate adjustment coefficient is smaller than the current radio signal intensity, and executing S09 when the increased code rate adjustment coefficient is smaller than the current radio signal intensity; otherwise, go to S06;
wherein the code rate adjustment coefficient is calculated according to the following formula,
△S = (n-1)×m
wherein Δ S is a code rate adjustment coefficient, n is the number of times that the packet loss rate is not 0 when continuously occurs, m is a preset adjustment amplitude, and the preset adjustment amplitude m is 1%, that is, when the packet loss rate is not equal to 0 each time, and the next side determines that the packet loss rate is not equal to 0, the code rate adjustment coefficient is increased by 1% on the previous basis, for example, when the packet loss rate is not equal to 0 when continuously occurs for four times, and when the packet loss rate occurs for the second time, the code rate adjustment coefficient is 1% = (2-1) × 1%; when the third time is selected initially, the code rate adjustment coefficient is 1% +1% =2% = (3-1) × 1%; when the fourth time occurs, the rate adjustment coefficient is 2% +1% =3% = (4-1) × 1%.
S09, adjusting the code rate to: the maximum code rate x [ current radio signal strength-code rate adjustment coefficient ], and S04 is performed.
By adjusting the code rate, the image quality can be properly reduced under the condition that a worker observes the surrounding environment of the vehicle is not influenced, and even the image is converted into a gray-scale image under the condition that the signal quality is extremely poor, so that the worker can observe the surrounding image of the vehicle timely and stably under various conditions.
Of course, in other embodiments, the code rate of each video path may not be adjusted downward, but the code rate of the video image of the camera corresponding to 1 or several areas that do not need to be focused in actual work may be adjusted downward.
When the video image is transmitted, the second operation host computer of the remote vehicle acquires the data of the vehicle control unit of the remote vehicle through the CAN bus and transmits the data to the driving control end through the wireless data transmission channel for displaying, so that an operator CAN know the self running condition of the remote vehicle more accurately, and the remote vehicle is controlled more accurately.
Example 2
The embodiment discloses a data interaction method for remote vehicle control, which comprises the following steps:
s1, receiving display configuration data transmitted by the driving control terminal through radio, and determining a camera needing to transmit data to the driving control terminal in a group of cameras according to the display configuration data;
s2, determining a first resolution to be displayed on the display device 14 of the driving control end by each camera which needs to transmit data to the driving control end and determining a second resolution currently set by each camera which needs to transmit data to the driving control end;
s3, judging the sizes of a first resolution and a second resolution corresponding to a camera which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, encoding the video image according to the second resolution and the H265 encoding standard; when the first resolution is smaller than the second resolution, the video image is coded according to the first resolution and the H265 coding standard;
and S4, transmitting the coded data to a driving control end by radio for display.
Example 3
The embodiment discloses a remote data interaction system for remote vehicle control, which comprises
The camera determining unit to be transmitted is used for receiving display configuration data transmitted by the driving control end through radio and determining a camera which needs to transmit data to the driving control end in a group of cameras according to the display configuration data;
the system comprises a resolution determining unit, a display unit and a control unit, wherein the resolution determining unit is used for determining a first resolution to be displayed on a display device of a driving control end by each camera which needs to transmit data to the driving control end and determining a second resolution currently set by each camera which needs to transmit data to the driving control end;
the compression unit is used for judging the sizes of a first resolution and a second resolution corresponding to a camera which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, the video image is encoded according to the second resolution and an H265 encoding standard; when the first resolution is smaller than the second resolution, the video image is coded according to the first resolution and the H265 coding standard;
and the transmission unit is used for transmitting the coded data to the driving control end through radio for display.
Example 4
The embodiment discloses a control device, which comprises a memory and a processor, wherein the memory stores programs, and the programs realize the data interaction method for remote vehicle control in the embodiment 2 when executed.
Example 5
This embodiment discloses a storage medium having stored thereon a program that, when executed, implements the data interaction method for remote vehicle control described in embodiment 2 above
The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.
Claims (10)
1. The remote data interaction method of the remote vehicle control system is characterized by comprising the following steps:
s10, transmitting the display configuration data of the driving control end to the remote vehicle through radio;
s20, the remote vehicle determines a camera needing to transmit data to the driving control end in a group of cameras according to the received display configuration data, a first resolution to be displayed on a display device of the driving control end by each camera needing to transmit data to the driving control end and a second resolution currently set by each camera needing to transmit data to the driving control end;
s30, judging the size of a first resolution and a second resolution corresponding to each camera needing to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, encoding the video image according to the second resolution and the H265 encoding standard; when the first resolution is lower than the second resolution, the video image is coded according to the first resolution and an H265 coding standard, and the coded data is transmitted to a driving control end through radio;
and S40, the driving control end decodes and displays the data transmitted by the remote vehicle.
2. The remote data interaction method of a remote vehicle control system according to claim 1, wherein the distance between the driving control terminal and the remote vehicle is in a range of 1-5 km.
3. The remote data interaction method of a remote vehicle control system of claim 1, wherein the display configuration data is transmitted to the remote vehicle through a data transmission channel.
4. The remote data interaction method of the remote vehicle control system according to claim 1, wherein the second operation host of the remote vehicle acquires data of the vehicle control unit of the remote vehicle through a CAN bus and transmits the data to the driving control end through a wireless data transmission channel for displaying.
5. The remote data interaction method of a remote vehicle control system according to claim 1, characterized in that: and the driving control end displays the received multi-channel data in a partition mode, and when certain data is compressed according to a second resolution, the driving control end amplifies the decoded data to a corresponding first resolution and displays the data.
6. The remote vehicle controlled data interaction method according to any one of claims 1 to 5, characterized in that: the display configuration data comprises the number of each camera, whether the identification position needs to be transmitted or not and the resolution ratio to be displayed on the display device, and the driving control end continuously sends the display configuration data to the remote vehicle until the display configuration data receives a feedback signal of successfully receiving the display configuration data fed back by the remote vehicle.
7. The data interaction method for remote vehicle control is characterized in that: the method comprises the following steps:
s1, receiving display configuration data transmitted by the driving control terminal through radio, and determining a camera needing to transmit data to the driving control terminal in a group of cameras according to the display configuration data;
s2, determining a first resolution to be displayed on a display device of the driving control end by each camera needing to transmit data to the driving control end and determining a second resolution currently set by each camera needing to transmit data to the driving control end;
s3, judging the sizes of a first resolution and a second resolution corresponding to a camera which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, encoding the video image according to the second resolution and the H265 encoding standard; when the first resolution is smaller than the second resolution, the video image is coded according to the first resolution and the H265 coding standard;
and S4, transmitting the coded data to a driving control end by radio for display.
8. Remote data interaction system of remote vehicle control, its characterized in that: comprises that
The camera determining unit to be transmitted is used for receiving display configuration data transmitted by the driving control end through radio and determining a camera which needs to transmit data to the driving control end in a group of cameras according to the display configuration data;
the system comprises a resolution determining unit, a display unit and a control unit, wherein the resolution determining unit is used for determining a first resolution to be displayed on a display device of a driving control end by each camera which needs to transmit data to the driving control end and determining a second resolution currently set by each camera which needs to transmit data to the driving control end;
the compression unit is used for judging the sizes of a first resolution and a second resolution corresponding to a camera which needs to transmit data to the driving control end, and when the first resolution is larger than or equal to the second resolution, the video image is encoded according to the second resolution and an H265 encoding standard; when the first resolution is smaller than the second resolution, the video image is coded according to the first resolution and the H265 coding standard;
and the transmission unit is used for transmitting the coded data to the driving control end through radio for display.
9. A control device comprising a memory and a processor, wherein a program is stored in the memory, characterized in that: the program when executed implements the data interaction method of the remote vehicle control of claim 7.
10. A storage medium having a program stored thereon, characterized in that: the program when executed implements the remote vehicle control data interaction method of claim 7.
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|---|---|
| CN (1) | CN114071160A (en) |
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2021
- 2021-10-21 CN CN202111227041.0A patent/CN114071160A/en active Pending
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