CN115022719A - Remote driving self-adaptive video code rate control transmission method and system - Google Patents
Remote driving self-adaptive video code rate control transmission method and system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
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- H04N21/462—Content or additional data management, e.g. creating a master electronic program guide from data received from the Internet and a Head-end, controlling the complexity of a video stream by scaling the resolution or bit-rate based on the client capabilities
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- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
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Abstract
The invention discloses a remote driving self-adaptive video code rate control transmission method, which comprises the following steps: after the driving mode is switched to remote driving, periodically detecting the network state; when the data transmission quantity of a video sending end positioned on a vehicle in unit time is lower than a network channel underload threshold value, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the network channel underload threshold value; when the data transmission amount of the video sending end in unit time is higher than a network channel underload threshold value and lower than a network channel full load threshold value, maintaining the video code rate of the video sending end at the moment; and when the data transmission amount of the video sending end in unit time is higher than the full-load threshold of the network channel, reducing the video code rate of the video sending end to ensure that the data transmission amount is lower than the full-load threshold of the network channel. The invention solves the problem that the remote driving cannot monitor the traffic environment around the remote vehicle in real time due to the reduction of the fluctuation bandwidth of the vehicle end network caused by the variability of the driving conditions in the remote driving, and ensures the driving safety.
Description
Technical Field
The invention belongs to the field of remote driving, and particularly relates to a remote driving self-adaptive video code rate control transmission method and system.
Background
The 5G Remote Driving (5G Remote Driving) is taken as a branch of the intelligent Driving industry, and has high application value and application prospect on the premise that the unmanned Driving technology is not mature. The 5G technology provides accurate and reliable information transmission with its characteristics of low latency, ultra-high reliability and large bandwidth, so that a driver can remotely control an unmanned vehicle in thousands of miles away. The 5G remote driving can be applied to special scenes such as disaster relief and road first-aid repair due to the safety and convenience of the 5G remote driving, so that the danger of rescue work is reduced, and the rescue efficiency is improved; and remote precise operation can be realized, such as production operation in areas of mines, oil fields, wastelands and the like.
The remote control room is used as a basis for judging whether to carry out remote driving or remotely control the driving of the automobile through road condition video images transmitted by the automobile terminal in real time. Because the vehicle can pass through the network coverage range of a plurality of different systems quickly when running on the road, the self characteristics of some networks can not meet the real-time video transmission of the vehicle terminal, and the connection time is too short or even the connection is interrupted. Meanwhile, due to the variability of driving conditions, extreme weather conditions, high-rise buildings in cities and the like, signal transmission is affected.
Disclosure of Invention
The invention aims to provide a remote driving self-adaptive video code rate control transmission method and system, which solve the problem that a remote driver cannot monitor the traffic environment around a remote vehicle in real time due to the fact that the fluctuation bandwidth of a vehicle-end network is reduced and the remote driver is influenced by the factors of variability of driving conditions, extreme weather conditions, high-rise buildings of cities and the like in a vehicle remote driving mode, and further ensure the safety of the whole driving task.
In order to solve the technical problems, the technical scheme of the invention is as follows: a remote driving self-adaptive video code rate control transmission method comprises the following steps:
after the driving mode is switched to remote driving, periodically detecting the network state;
when the data transmission quantity of a video sending end positioned on a vehicle in unit time is lower than a network channel underload threshold value, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the network channel underload threshold value;
when the data transmission amount of the video sending end in unit time is higher than a network channel underload threshold value and lower than a network channel full load threshold value, maintaining the video code rate of the video sending end at the moment;
and when the data transmission amount of the video sending end in unit time is higher than the full-load threshold of the network channel, reducing the video code rate of the video sending end to ensure that the data transmission amount is lower than the full-load threshold of the network channel.
Further comprises the data packet loss rate lambda i As a reference factor of the network state, smoothing the data packet loss rate according to the following formula:
λ i ＝αL+(1-α)λ i-1
in the formula, λ i And λ i-1 Respectively representing the video data loss rate of the current moment and the previous moment in a certain period of time after smoothing treatment, L representing the actual data loss rate of the unprocessed current moment, alpha being a weight coefficient and 0<α<1；
Correspondingly adjusting the relation between the network state and the video code rate and the coding quantization parameter according to the following formula:
in the formula, N up Setting a fast-increasing parameter and a fast-decreasing parameter to be N for a coding quantization parameter of a video transmitting end down Fast-falling parameter, N, for coding quantization parameter at video transmitting end cur And N pre Respectively expressed as the quantization parameter values, N, of the current time and the previous time within a certain period of time max And N min Then the maximum quantization value and the minimum quantization value, lambda, which can be borne by the network channel in the video code rate adjustment process of the video sending end 1 Is a network channel underrun threshold, λ 2 Is the network channel full load threshold;
when lambda is i <λ 1 Then, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the underload threshold value of the network channel;
when lambda is 1 ≤λ i ≤λ 2 Then, maintaining the video code rate of the video sending end at the moment;
when lambda is i >λ 2 And then, reducing the video code rate of the video sending end to ensure that the data transmission quantity is lower than the full load threshold of the network channel.
Also includes introducing network delay jitter J cur The latter correction formula:
wherein J is a preset time delay jitter threshold value, N 1 Adjusting the value of the quantization parameter;
when J is cur When J is less than or equal to J, maintaining the video code rate of the video sending end at the moment;
when J is cur >And J, reducing the video code rate of the video sending end to enable the network delay jitter to be smaller than or equal to the delay jitter threshold.
The value of alpha is 0.8.
Also provided is a remote driving adaptive video rate control system, comprising:
the vehicle-mounted camera is used for acquiring video image data of traffic environment information around a remotely driven vehicle and sending the video image data to the vehicle-mounted internet terminal;
the vehicle-mounted internet terminal is used for sending the vehicle running state data and the video image data to the dispatching cloud platform, and periodically detecting the network state after the driving mode is switched to remote driving; when the data transmission quantity of a video sending end positioned on a vehicle in unit time is lower than a network channel underload threshold value, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the network channel underload threshold value; when the data transmission amount of the video sending end in unit time is higher than a network channel underload threshold value and lower than a network channel full load threshold value, maintaining the video code rate of the video sending end at the moment; when the data transmission amount of the video sending end in unit time is higher than the full load threshold of the network channel, reducing the video code rate of the video sending end to enable the data transmission amount to be lower than the full load threshold of the network channel; the remote driving signal receiving module is also used for receiving a remote driving signal sent by the dispatching cloud platform;
the dispatching cloud platform is used for receiving the remote controlled vehicle running state data and the surrounding traffic environment data information uploaded by the vehicle-mounted internet terminal and forwarding a control signal sent by the remote driving stand;
and the remote driving stand is used for remotely taking over and controlling the vehicle by a remote designated driver.
Further comprises the data packet loss rate lambda i As a reference factor of the network state, smoothing the data packet loss rate according to the following formula:
λ i ＝αL+(1-α)λ i-1
in the formula, λ i And λ i-1 Respectively representing the video data loss rate of the current moment and the previous moment in a certain period of time after smoothing processing, L representing the actual data loss rate of the unprocessed current moment, alpha being a weight coefficient and 0<α<1；
Correspondingly adjusting the relation between the network state and the video code rate and the coding quantization parameter according to the following formula:
in the formula, N up Setting a fast-increasing parameter and a fast-decreasing parameter to be N for a coding quantization parameter of a video transmitting end down Fast descent parameter, N, for coding quantization parameter at video transmitting end cur And N pre Respectively expressed as the quantization parameter values, N, of the current time and the previous time within a certain period of time max And N min Then the video code rate is the video sending endAdjusting the maximum and minimum quantization values, λ, that the network channel can withstand during the process 1 Is a network channel underrun threshold, λ 2 Is the network channel full load threshold;
when lambda is i <λ 1 Then, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the underload threshold value of the network channel;
when lambda is 1 ≤λ i ≤λ 2 Then, maintaining the video code rate of the video sending end at the moment;
when lambda is i >λ 2 And then, reducing the video code rate of the video sending end to enable the data transmission quantity to be lower than the full load threshold of the network channel.
Also includes introducing network delay jitter J cur The latter correction formula:
wherein J is a preset delay jitter threshold value, N 1 Adjusting the value of the quantization parameter;
when J is cur When J is less than or equal to J, maintaining the video code rate of the video sending end at the moment;
when J is cur >And J, reducing the video code rate of the video sending end to enable the network delay jitter to be smaller than or equal to the delay jitter threshold.
The alpha value was taken to be 0.8.
There is also provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as claimed in any one of the above when executing the computer program.
There is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method according to any one of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention solves the problem that the network fluctuation bandwidth at the vehicle end is reduced due to the factors of variability of driving conditions, extreme weather conditions, high-rise buildings in cities and the like in a vehicle remote driving mode, and the problem that a remote driver cannot monitor the traffic environment around a remote vehicle in real time is influenced, thereby ensuring the safety of the whole driving task.
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FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a system architecture diagram of an embodiment of the present invention;
fig. 3 is a schematic algorithm flow chart according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The technical scheme of the invention is as follows:
(1) as shown in fig. 2, the remote driving system has functions of remote video monitoring and remote driving control for vehicles, and includes: the system comprises a vehicle-mounted camera, a vehicle-mounted internet terminal, a scheduling cloud platform and a remote driving rack. The vehicle-mounted camera is used for acquiring traffic environment information around a remote controlled vehicle and sending acquired video image data to the vehicle-mounted internet terminal; the vehicle-mounted internet terminal is used for receiving a remote driving signal issued by the dispatching cloud platform and sending remote controlled vehicle running state data and surrounding traffic environment data information; the dispatching cloud platform is used for receiving the remote controlled vehicle running state data and the surrounding traffic environment data information uploaded by the vehicle-mounted internet terminal and forwarding a control signal sent by the remote driving stand; the remote driving stand is used for remotely taking over and controlling the vehicle by a remote driver.
(2) When a vehicle runs on a road, because the network environment where the vehicle is located can be changed rapidly, the vehicle-mounted internet terminal cannot adaptively regulate and control the data sending rate of the video source end, so that the real-time transmission rate of the video data at the vehicle end cannot be matched with the available bandwidth of the current network, and further network congestion, time delay and other phenomena can occur in the video transmission process. In the remote driving mode, the remote cab mainly judges whether to carry out remote driving through video data transmitted back by the automobile terminal in real time. When a vehicle runs on a road, because vehicle nodes move continuously, the network environment faced by the vehicle changes continuously, and the network time delay, the bandwidth and the like of the vehicle-mounted internet terminal have obvious differences, in order to ensure the stability and the accuracy of vehicle-end video data in network transmission, the vehicle-mounted internet terminal is upgraded and optimized, and the most effective method is to match the transmission rate of the video data with the available bandwidth of the current network in real time.
The code rate regulation and control method based on detection takes 'smooth rise and rapid fall' in the AIMD method as a principle to manage and control the video source end coding rate, and the specific regulation strategy is as follows:
when the data transmission quantity of the video sending end in unit time is lower than a network channel load threshold (namely a network channel underload threshold), a network is in an idle state, the transmission speed of the video terminal can be properly increased to reach a network channel load normal state, and the waste of network resources is avoided.
And when the data transmission quantity of the video sending end in unit time is near the threshold of the network channel load, the sending rate of the video source end is not adjusted, the coding rate of the video source end is not changed, and the network channel utilization rate reaches the highest.
When the data transmission amount of the video sending end in unit time exceeds the maximum capacity (namely the full load threshold value of the network channel) borne by the network channel, the network environment becomes congested, and at the moment, the data sending code rate of the source end is reduced at a higher speed, the sending rate of the video terminal is reduced rapidly, and the data transmission amount returns to the channel load threshold value.
(3) As shown in fig. 1, when the first-stage driving mode is switched to the automatic driving mode, the vehicle-mounted internet terminal periodically detects whether the current network meets the driving requirement, and when the data transmission amount of the video sending end in unit time is lower than a network channel load threshold and the definition of the video received by the upper remote cab meets the monitoring requirement of the remote driver, or the data transmission amount of the video sending end in unit time is near the network channel load threshold, the sending rate of the video source end is not adjusted, and the encoding rate of the video source end is not changed; when the data transmission amount of a video sending end in unit time exceeds the maximum capacity borne by a network channel, the network environment becomes congested, at the moment, the data sending code rate of a source end is reduced at a higher speed, and the sending rate of the video terminal is reduced by reducing the definition of transmitted video, so that the data transmission amount returns to the channel load threshold value. The AIMD method mainly adopts the idea that the packet loss rate of a data packet is used as a reference factor of a network state, and the network state is divided according to a specific numerical value of the packet loss rate. Due to network fluctuation and contingency, the data packet loss rate acquired by the video source end needs to be subjected to smoothing processing, so that the influence of emergency on a regulation mechanism can be reduced. The data loss rate is typically handled using first order low pass filtering, as shown in the equation:
λ i ＝αL+(1-α)λ i-1
in the formula, λ i And λ i-1 Respectively representing the video data loss rate of the current moment and the previous moment in a certain period of time after smoothing processing, L representing the actual data loss rate of the unprocessed current moment, alpha being a weight coefficient and 0<α<1, it can be seen from the above equation that the value of α affects the smoothing process of the system, and the larger the value of α is, the clearer the degree of feedback to the network state is, so that the value of α is taken to be 0.8 in order to more effectively exert the smoothing performance.
Dividing the network state into three levels of underload, full load and overload, smoothing the data loss rate lambda 1 Is the threshold when the network environment enters full load from underload, and the smooth data loss rate lambda 2 Is the threshold when the network environment goes from full load to overload. Setting the rapid increment parameter of the coding quantization parameter of the source end as N p The fast descent parameter is set to N down ，N cur And N pre Respectively representing a certain segmentQuantization parameter values, N, of the current and previous moments in time max And N min The maximum quantization value and the minimum quantization value, N, which can be borne by the network channel in the process of adjusting the code rate of the video source end thre The quantized parameter threshold is a variable when the network is overloaded.
The division of network channel load and the rate regulation strategy of the AIMD method can correspondingly regulate the relationship between the network state and the video coding rate and the quantization parameter, and can be specifically carried out according to the following formula.
When lambda is i <λ 1 And when the network channel load is in an idle state, the quantization parameter value at the current moment can be properly reduced, the definition of the transmitted video is improved, the sending code rate of the video source end is increased, the sending quantity of the video data in unit time is rapidly increased, and the bandwidth utilization rate of the network channel is improved.
Lambda is 1 ≤λ i ≤λ 2 And then, the network load is relatively stable, the data transmission quantity in the video unit time and the load which can be borne by the network channel are in a balanced state, the video sending end does not need to adjust the video code rate, and the video transmission is in an optimal state.
(iii) when lambda i >λ 2 The method is characterized in that the video data transmission amount in unit time exceeds the maximum load of a network channel, the network environment is severe at the moment, the video data loss amount and the transmission delay are aggravated, quantization parameter values need to be increased rapidly, the transmission code rate of a video source end is reduced, the available bandwidth of the network channel is restored to a normal state as soon as possible, and the excessive influence on video transmission is avoided.
(3) In the method, the data packet loss rate is used as a main network state reference object, but in practical application, the data packet loss rate mainly reflects the network congestion condition of a long time period, and in the face of the network environment of a vehicle on a road, parameters capable of reflecting the network state in a short time are required to be introduced. The method is improved on the basis of the method, firstly, new network parameters are introduced, network delay jitter and data packet loss rate are jointly added to the prediction of the network state at the next moment, and then, the code rate regulation and control strategy in the method is improved, so that the method is more suitable for the application scene of a vehicle terminal to ensure stable and rapid video transmission.
The method is improved on the basis of a code rate regulation and control method, so that the method is more suitable for the transmission of real-time videos of a vehicle end in a remote driving mode. The method comprises the steps of firstly introducing new network evaluation parameters, re-evaluating the network state at the next moment according to the video data packet loss rate and the network channel delay jitter, and then adopting a method for dynamically adjusting video source end quantization parameters on a specific code rate regulation mechanism to match the video transmission rate with the network channel in real time, so as to better ensure the video transmission of a vehicle end during road running. As shown in fig. 3, the formula is modified according to the above method:
let N 1 The value of the basic adjustment value for the quantization parameter is 1, wherein N is down Defined as a fast-decreasing parameter of the quantization parameter, which is a variable, fast-increasing parameter N up Set to a constant, N down And N up The initial value of (A) is as follows:
N down ＝N up ＝2*N 1
when the smooth packet loss rate of the video data is lambda 1 ≤λ i ≤λ 2 In the process, the network channel load can be considered to be in a full load balance state, at the moment, new network evaluation parameters are introduced, and the network delay is jittered by J cur Adding evaluation, setting the threshold value of the time delay jitter to be J when J is used cur When J is less than or equal to J, the network channel load balance is shown, the quantization parameter of the video source end is not adjusted at the moment, the original code rate of the video sending end is kept, and when J is equal to J cur >J is then considered to be within unit timeThe video transmission amount is just exceeding the maximum capacity of the network load, and at the moment, the quantization parameter value of the video transmitting end is properly increased, the video source end coding code rate is reduced, and the network channel returns to a stable state.
When the smooth packet loss rate lambda of the video data i >λ 2 Then, it can be obtained that the network is in an overload state at the current moment, the quantization parameter value of the source end needs to be increased rapidly, the transmission code rate of the video terminal is reduced, the quantization parameter value in overload is recorded, and N is enabled thre >N cur I.e. the quantization parameter value threshold N for the previous time overload thre And (4) updating.
When the smooth packet loss rate lambda of the video data i <λ 1 At the moment, the network channel is in an idle state, and the network channel is analyzed according to two conditions of overload and non-overload.
Firstly, if the video terminal never has the phenomenon of network overload in the video transmission process, the parameter N of the quantization parameter is rapidly reduced down Remain unchanged, i.e.:
N down ＝2*N 1
at this time, it can be considered that the sending amount of the video data in the unit time does not reach the upper limit of the load of the network channel, and the quantization parameter at the current moment is adjusted, so that the quantization parameter value is rapidly reduced, the code rate of the video terminal is improved, the time for regulating and controlling the video terminal is reduced, and the waste of network resources is reduced.
Secondly, if the video terminal has the phenomenon of network overload in the video transmission process, the parameter N of the quantization parameter is rapidly reduced down Needs to be adjusted according to specific conditions:
let N m Quantifying parameter value N for measuring current moment cur And last time N thre And the value of the parameter of the proximity degree is 2. When N is present cur -N thre >N m Description of the quantization parameter value N at the present time cur The overload threshold N of the previous moment is not reached yet thre When the data transmission quantity of the video terminal in unit time does not reach the network load threshold, the quantization parameter value is accelerated to be reduced, and N is enabled down ＝2*N 1 . When in use0≤N cur -N thre <N m At this moment, the code rate of the video terminal is very close to the video code rate when the network is overloaded at the last moment, but the code rate does not exceed the threshold, the network load does not enter a balanced state, the quantization parameter value of the video is properly reduced, the video code rate of the source end is slowly improved, the network channel tends to be saturated, and N is enabled to be down ＝N 1 。
When N is present cur -N thre <When 0, it indicates that the quantization parameter value of the video source end at the current moment exceeds the quantization parameter value threshold of the previous moment, but the network is still in an idle state at the moment, which indicates that the coding rate of the video terminal is always at a lower level during the period of time and does not reach a full load state of the network, so that a larger quantization parameter reduction parameter should be selected to enable N to be a full load state of the network down ＝2*N 1 The method accelerates the improvement of the encoding rate of the video source end, enables the network channel to rapidly climb to a load balancing state, reduces the waste of network resources and ensures the stability of video transmission.
(4) And when the system detects that the currently used network load is fully loaded, the system reduces the sending code rate of the video source end, so that the available bandwidth of the network channel is restored to a normal state as soon as possible, and the excessive influence on video transmission is avoided, and the safety of remote driving is further influenced.
When the definition of the video is not reduced to the lowest boundary required by a remote driver, the network load is relatively stable, and the definition of the transmitted video is not reduced.
And secondly, when the definition of the video is reduced to the lowest boundary required by the remote driver, the network load can not be relatively stable, and the definition of the transmitted video is not reduced, but the visual angle monitored by the remote driver is reduced.
(5) And when the fourth stage system detects that the data transmission quantity of the video transmitting end in unit time is lower than the network channel load threshold, and the network is in a no-load state, the transmission speed of the video terminal can be properly increased, the monitoring visual angle of a remote driver is recovered at first, the video transmission definition is further improved, and the safety of a remote driving task is improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A remote driving self-adaptive video code rate control transmission method is characterized by comprising the following steps:
after the driving mode is switched to remote driving, periodically detecting the network state;
when the data transmission quantity of a video sending end positioned on a vehicle in unit time is lower than a network channel underload threshold value, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the network channel underload threshold value;
when the data transmission amount of the video sending end in unit time is higher than a network channel underload threshold value and lower than a network channel full load threshold value, maintaining the video code rate of the video sending end at the moment;
and when the data transmission amount of the video sending end in unit time is higher than the full-load threshold of the network channel, reducing the video code rate of the video sending end to ensure that the data transmission amount is lower than the full-load threshold of the network channel.
2. The transmission method of claim 1, further comprising determining a data packet loss rate λ i As a reference factor of the network state, smoothing the data packet loss rate according to the following formula:
λ i ＝αL+(1-α)λ i-1
in the formula, λ i And λ i-1 Respectively representing the video data loss rate of the current moment and the previous moment in a certain period of time after smoothing processing, L representing the actual data loss rate of the unprocessed current moment, alpha being a weight coefficient and 0<α<1；
Correspondingly adjusting the relation between the network state and the video code rate and the coding quantization parameter according to the following formula:
in the formula, N up Setting a fast-increasing parameter and a fast-decreasing parameter to be N for a coding quantization parameter of a video transmitting end down Fast descent parameter, N, for coding quantization parameter at video transmitting end cur And N pre Respectively expressed as the quantization parameter values, N, of the current time and the previous time within a certain period of time max And N min Then the maximum quantization value and the minimum quantization value, lambda, which can be borne by the network channel in the video code rate adjustment process of the video sending end 1 Is a network channel underrun threshold, λ 2 Is the network channel full load threshold;
when lambda is i <λ 1 Then, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the underload threshold value of the network channel;
when lambda is 1 ≤λ i ≤λ 2 Then, maintaining the video code rate of the video sending end at the moment;
when lambda is i >λ 2 And then, reducing the video code rate of the video sending end to ensure that the data transmission quantity is lower than the full load threshold of the network channel.
3. The method of claim 2, further comprising introducing a network delay jitter J cur The latter correction formula:
wherein J is a preset delay jitter threshold value, N 1 Adjusting the value of the quantization parameter;
when J is cur When J is less than or equal to J, maintaining the video code rate of the video sending end at the moment;
when J cur >J hours, reduce video transmissionThe video code rate of the terminal ensures that the network delay jitter is less than or equal to the delay jitter threshold value.
4. The transmission method of claim 2, wherein the α value is 0.8.
5. A system using a remote driving adaptive video rate control transmission method according to claim 1, comprising:
the vehicle-mounted camera is used for acquiring video image data of traffic environment information around a remotely driven vehicle and sending the video image data to the vehicle-mounted internet terminal;
the vehicle-mounted internet terminal is used for sending the vehicle running state data and the video image data to the scheduling cloud platform, and periodically detecting the network state after the driving mode is switched to remote driving; when the data transmission quantity of a video sending end positioned on a vehicle in unit time is lower than a network channel underload threshold value, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the network channel underload threshold value; when the data transmission amount of the video sending end in unit time is higher than a network channel underload threshold value and lower than a network channel full load threshold value, maintaining the video code rate of the video sending end at the moment; when the data transmission amount of the video sending end in unit time is higher than the full load threshold of the network channel, reducing the video code rate of the video sending end to enable the data transmission amount to be lower than the full load threshold of the network channel; the remote driving signal receiving module is also used for receiving a remote driving signal sent by the dispatching cloud platform;
the dispatching cloud platform is used for receiving the remote controlled vehicle running state data and the surrounding traffic environment data information uploaded by the vehicle-mounted internet terminal and forwarding a control signal sent by the remote driving stand;
and the remote driving stand is used for remotely taking over and controlling the vehicle by a remote designated driver.
6. The system of claim 5, further comprising a packet loss rate λ i As a reference factor of the network state, smoothing the data packet loss rate according to the following formula:
λ i ＝αL+(1-α)λ i-1
in the formula, λ i And λ i-1 Respectively representing the video data loss rate of the current moment and the previous moment in a certain period of time after smoothing processing, L representing the actual data loss rate of the unprocessed current moment, alpha being a weight coefficient and 0<α<1；
Correspondingly adjusting the relation between the network state and the video code rate and the coding quantization parameter according to the following formula:
in the formula, N up Setting a fast-increasing parameter and a fast-decreasing parameter to be N for a coding quantization parameter of a video transmitting end down Fast descent parameter, N, for coding quantization parameter at video transmitting end cur And N pre Respectively expressed as the quantization parameter values, N, of the current time and the previous time within a certain period of time max And N min Then the maximum quantization value and the minimum quantization value, lambda, which can be borne by the network channel in the video code rate adjustment process of the video sending end are obtained 1 Is a network channel underrun threshold, λ 2 Is the network channel full load threshold;
when lambda is i <λ 1 Then, the video code rate of the video sending end is improved to enable the data transmission quantity to exceed the underload threshold value of the network channel;
when lambda is 1 ≤λ i ≤λ 2 Then, maintaining the video code rate of the video sending end at the moment;
when lambda is i >λ 2 And then, reducing the video code rate of the video sending end to ensure that the data transmission quantity is lower than the full load threshold of the network channel.
7. The system of claim 6, further comprising introducing a network delay jitter J cur The latter correction formula:
wherein J is a preset delay jitter threshold value, N 1 Adjusting the value of the quantization parameter;
when J is cur When J is less than or equal to J, maintaining the video code rate of the video sending end at the moment;
when J is cur >And J, reducing the video code rate of the video sending end to enable the network delay jitter to be smaller than or equal to the delay jitter threshold.
8. The system of claim 6, wherein the value of α is 0.8.
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-4 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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