CN101887739A - Method and device for synchronizing media play - Google Patents
Method and device for synchronizing media play Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 61
- 238000004458 analytical method Methods 0.000 claims description 11
- 230000007423 decrease Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005070 sampling Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/4302—Content synchronisation processes, e.g. decoder synchronisation
- H04N21/4305—Synchronising client clock from received content stream, e.g. locking decoder clock with encoder clock, extraction of the PCR packets
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/442—Monitoring of processes or resources, e.g. detecting the failure of a recording device, monitoring the downstream bandwidth, the number of times a movie has been viewed, the storage space available from the internal hard disk
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Abstract
The invention discloses a method for synchronizing media play, belonging to the electronic technical field, which can acquire data of each synchronous reference of media play, takes a local system clock as reference to analyze the fluctuation of data of each synchronous reference, takes the synchronous reference corresponding to the data which has minimum fluctuation to implement synchronous operation of media play. The embodiment of the invention correspondingly provides media play equipment. The embodiment of the invention monitors the reliability of various synchronous references at real time, can identify the synchronous reference according to the actual condition of media play, and realizes dynamic regulation synchronous reference of media play, greatly eliminates the problems of audio/video pause and frame missing and the like brought by PTS and PCR, thus enabling the actual playing effect to achieve optimal smooth degree and improving the experience of users.
Description
Technical Field
The present invention relates to the field of electronic technologies, and in particular, to a method and an apparatus for media playback synchronization.
Background
The media playing device generally has a function of synchronizing audio and video playing, that is, pictures and sound are played synchronously, so as to provide a good viewing experience for users, and especially when news programs are played, lip synchronization is very critical to the user experience.
At present, there are several synchronization methods for media playing devices as follows: audio synchronization, Program Clock Reference (PCR) synchronization, video synchronization. The audio synchronization, that is, the video and subtitle follow the audio, is performed based on an audio Play Time Stamp (PTS); the PCR synchronization is that a program clock reference provided by a program sending end, and the audio and video and the caption are synchronized by taking the clock reference as a reference; the video synchronization, i.e. the audio and subtitle are synchronized with reference to the video PTS.
The following describes a specific synchronization process by taking the example shown in fig. 1:
1) first, the media device player specifies a synchronization reference, such as audio, at the beginning of playing the media file. This reference may be specified by the developer at development time, or by the user through the player's interface.
2) Then, the media device player extracts the PTS of the audio from the media data stream according to the specified synchronization reference during playing, and generates a reference clock with the PTS.
3) When data (video) of an asynchronous reference is to be played, first, the PTS of the data of the asynchronous reference to be played is compared with the reference clock generated in step 2). If the PTS of the data to be played is substantially equal to the reference clock, the data is played, the substantially equal means that the PTS falls within a section near the reference clock, and the human eye is generally less likely to perceive the asynchrony within this section. If the played data is earlier than the reference clock, i.e. PTS < reference clock interval, it is discarded. Otherwise, wait until PTS falls in the reference clock interval and then play the video.
The inventor finds that the synchronization method in the prior art has at least the following disadvantages in the process of implementing the invention:
the synchronization reference is designated when the playing is started, and is designated through a developer or a user interface, although the user can designate again in the playing process, after the designation, the player passively uses the synchronization reference, and the designated synchronization reference in the playing process may be unstable or not exist at all, so that the synchronization of each playing data cannot be realized, and phenomena such as audio and video cards, pause, jump and the like may be caused.
Disclosure of Invention
The embodiment of the invention provides a method and a device for media playing synchronization, which dynamically adjust media playing synchronization reference according to the actual situation of media playing.
The embodiment of the invention is realized by the following technical scheme:
the embodiment of the invention provides a media playing synchronization method, which comprises the following steps:
acquiring data of each synchronous reference of media playing in real time;
analyzing the fluctuation of data of each synchronous reference by taking a local system clock as a reference;
and taking the synchronization reference corresponding to the data with the minimum fluctuation as the current synchronization reference to execute the media playing synchronization operation.
An embodiment of the present invention provides a media playing device, including: the device comprises a media playing unit, an acquisition unit, an analysis unit and a synchronization reference determination unit;
the media playing unit is used for playing media files;
the acquisition unit is used for acquiring data of each synchronous reference of media playing in real time;
the analysis unit is used for analyzing the fluctuation of the data of each synchronous reference by taking a local system clock as a reference;
the synchronization reference determining unit is used for taking the synchronization reference corresponding to the data with the minimum fluctuation as the synchronization reference for currently executing the media playing synchronization operation;
the media playing unit is further configured to perform media playing synchronization operation according to the synchronization reference determined by the synchronization reference determining unit.
According to the technical scheme provided by the embodiment of the invention, the reliability of the synchronous references is monitored in real time, the synchronous references can be determined according to the actual situation of media playing, the dynamic adjustment of the media playing synchronous references is realized, the problems of audio and video pause, frame loss and the like which are frequently caused by PTS and PCR are eliminated to the greatest extent, the actual playing effect reaches the best smoothness degree, and the user experience is improved.
Drawings
FIG. 1 is a prior art audio video synchronization process;
FIG. 2 is a flowchart of a method for media playback synchronization according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating interval division according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a media playing device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a media playing device according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of an analysis unit in a media playing device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a synchronization reference determining unit in a media playing device according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating that units in a media playing device cooperate to achieve media synchronization according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a method for media playing synchronization, which takes fig. 2 as an example, and includes the following steps:
step 10: acquiring data of each synchronous reference of media playing in real time;
step 11: analyzing the fluctuation of data of each synchronous reference by taking a local system clock as a reference;
step 12: and taking the synchronization reference corresponding to the data with the minimum fluctuation as the current synchronization reference to execute the media playing synchronization operation.
In step 10, the data of each synchronization reference for media playing includes: the program clock refers to one or more of PCR, audio PTS or video PTS, namely the data which can be used as the synchronous reference of media playing;
in step 11, the analyzing the fluctuation of the data of each synchronization reference with reference to the local system clock includes:
s110: comparing the acquired data of each synchronous reference with a local System Time Clock (STC) and recording the deviation value of the data of each synchronous reference;
s111: after the time for acquiring the data of each synchronous reference reaches the specified time, calculating the average value of the deviation values of the recorded data of each synchronous reference aiming at each synchronous reference; for example, it may be specified that after 1 minute of sampling, the average value of the deviation values of the data of the synchronization references is calculated.
S112: respectively counting the number of points of the deviation value of the data of each synchronous reference in each interval, and calculating the weighted sum of each synchronous reference according to the number of points of the deviation value in each interval and the coefficient of each interval; the interval is N intervals defined by taking the average value obtained by calculating the data of each synchronous reference as the center, and N is a natural number greater than zero;
the method of calculating the weighted sum may employ the following formula:
the weighted sum is 1 point number in a section × 1 coefficient + 2 point number in a section × 2 coefficient + - ·+ N point number in a section × N coefficient in a section.
Wherein the distance of the interval 1 to the center < the distance of the interval 2 to the center < the distance of the interval N to the center; the interval 1 coefficient > the interval 2 coefficient > the interval N system. The divided sections and the section coefficients are the same for the respective synchronization references.
S113: the size of the fluctuation is determined from the weighted sum, i.e. the fluctuation becomes larger as the weighted sum decreases.
In step 12, the performing a media playing synchronization operation with the synchronization reference corresponding to the data with the minimum fluctuation as the current synchronization reference includes: and generating a reference clock according to the determined synchronous reference, and executing media playing synchronous operation by using the reference clock generated by the reference clock generating unit.
The embodiment of the invention monitors the reliability of several synchronous references in real time, determines the synchronous references according to the actual situation of media playing, realizes dynamic adjustment of the synchronous references of the media playing, and eliminates the problems of audio and video pause, frame loss and the like which are frequently caused by PTS and PCR to the maximum extent, so that the actual playing effect reaches the best smooth degree, and the user experience is improved.
To further understand the present invention, the following illustrates a process for determining a synchronization reference, including the following operations:
1) in the media playing process, sampling in real time to obtain a PCR, an audio PTS and a video PTS;
2) respectively comparing the PCR, the audio PTS and the video PTS obtained by sampling with a local system clock STC, and recording a deviation value;
for example, for the obtained audio PTS0, PTS 1.., PTSn-1, the recorded deviation value is PTSDELTA0, PTSDELTA 1.., PTSDELTAn-1; wherein,
PTSDELTA0＝PTS0-STC；
PTSDELTA1＝PTS1-STC；
PTSDELTAn-1＝PTSn-1-STC；
3) when the sampling time reaches the return time, if 1 minute, calculating an average value respectively for all deviations of the data record of each synchronous reference;
for example, for the deviation value TSDELTA0, PTSDELTA1, and PTSDELTAn-1 of the recorded audio PTS, the average Avg:
Avg＝(PTSDELTA0+PTSDELTA1+...+PTSDELTAn-1)/n；
it is understood that the embodiment of the present invention uses the sampling time reaching the predetermined time as the timing for calculating the average value, but other ways for determining the timing for calculating the average value are not excluded, and for example, the average value may be calculated when the sampling reaches the predetermined number of times.
For PCR and video PTS, the offset value from the local system clock is calculated in the same way as the audio PTS.
4) Defining 5 intervals by taking each average value as a center, and counting the number of sampling points falling in each interval: s1, S2, S3, S4, S5; as shown in fig. 3 in the form of intervals defined centering on Avg;
the intervals defined by the PCR, the audio PTS and the video PTS have the same form, namely, the time difference among the intervals is the same, the system of the intervals is the same, and the center of the interval is the Avg calculated according to the data of each synchronous reference.
5) Calculating a weighted sum of the synchronization references based on the number of sampling points falling in each section (S1, S2, S3, S4, S5) and the section coefficients; in this example, the coefficient of section 1 is set to be 16, the number of sampling points falling in section 1 is set to be S1, the coefficient of section 2 is set to be 8, the number of sampling points falling in section 2 is set to be S2, the coefficient of section 3 is set to be 4, the number of sampling points falling in section 3 is set to be S3, the coefficient of section 4 is set to be 2, the number of sampling points falling in section 4 is set to be S4, the coefficient of section 5 is set to be 1, and the number of sampling points falling in section 5 is set to be S5; the weighted sum calculation formula is:
a weighted sum of S1 × 16+ S2 × 8+ S3 × 4+ S4 × 2+ S5;
6) and judging the fluctuation size according to the weighted sum of the synchronous references, wherein if the weighted sum is large and the sampling points are concentrated, the fluctuation is considered to be small. Therefore, the advantages and disadvantages of the PCR and the audio PTS are determined, the synchronization reference with the minimum fluctuation is used as the synchronization reference of the current media playing, and the reference clock is generated according to the determined synchronization reference to carry out the media playing synchronization operation.
The embodiment of the invention realizes dynamic adjustment of the media playing synchronization reference, and eliminates the problems of audio and video pause, frame loss and the like which are frequently caused by PTS and PCR to the maximum extent, so that the actual playing effect reaches the best smoothness degree, and the user experience is improved.
An embodiment of the present invention further provides a media playing device, which takes the example shown in fig. 4 as an example, and includes: a media playing unit 40, an acquisition unit 41, an analysis unit 42, a synchronization reference determination unit 43;
the media playing unit 40 is used for playing media files;
the acquiring unit 41 is configured to acquire data of each synchronization reference for media playing in real time; the data of each synchronization reference of the media playing comprises: the program clock refers to the PCR, the audio PTS and the video PTS, namely, the data can be used as the synchronous reference of media playing;
the analysis unit 42 is configured to analyze fluctuations of data of each synchronization reference with reference to a local system clock;
the synchronization reference determining unit 43 is configured to use the synchronization reference corresponding to the data with the minimum fluctuation as the synchronization reference for currently performing the media playing synchronization operation;
the media playing unit 40 is further configured to perform a media playing synchronization operation with the synchronization reference determined by the synchronization reference determining unit.
As shown in fig. 5, the media player may further include:
and a clock monitoring unit 44, configured to monitor the time when the obtaining unit obtains the data of each synchronization reference, and provide the time to the average value calculating sub-unit as a time for determining an average value.
As shown in fig. 6, the analysis unit 42 may further include:
the deviation recording subunit 421 is configured to compare the acquired data of each synchronization reference with a local system clock, and record a deviation value of the data of each synchronization reference;
an average value calculation operator unit 422, configured to calculate an average value for the deviation value of the recorded data of each synchronization reference after the time for acquiring the data of each synchronization reference by the acquisition unit reaches a predetermined time:
a counting subunit 423, configured to count the number of points in each section where the deviation value of the data of each synchronization reference falls; the intervals are N intervals defined by taking each average value as a center, and N is a natural number greater than zero;
a weighted sum calculating subunit 424 that calculates a weighted sum of the synchronization references based on the number of points at which the deviation value falls in each section and the section coefficients, the fluctuation becoming larger as the weighted sum decreases.
It is understood that the structure of the analysis unit described in the embodiment of the present invention is only one example listed by the inventor, and other structural divisions are within the scope of the present invention on the premise of implementing the current function of the analysis unit.
As shown in fig. 7, the synchronization reference determination unit 43 may further include:
a synchronization reference accurate subunit 431, configured to use the synchronization reference corresponding to the data with the minimum fluctuation as the synchronization reference for currently performing the media playing synchronization operation;
a reference clock generating sub-unit 432, configured to generate a reference clock according to the determined synchronization reference.
As shown in fig. 8, a schematic diagram of media synchronization between units of a media playing device according to an embodiment of the present invention is shown, media data is subjected to a preprocessing process, which is not limited in this embodiment of the present invention, for example, the preprocessing process includes demultiplexing, and after the preprocessing process, an obtaining unit obtains data of each synchronization reference, which includes, for example: PCR, audio PTS, and video PTS. The clock monitoring unit monitors the time of acquiring the data of each synchronous reference by the acquiring unit, the time is provided for the analyzing unit, after the acquiring time reaches the specified time, the analyzing unit starts to execute the analyzing operation, namely, the fluctuation of the data of each synchronous reference is analyzed by taking the local system clock as the reference, then the synchronous reference determining unit obtains the advantages and disadvantages of each synchronous reference according to the analyzing result of the analyzing unit, determines the synchronous reference corresponding to the data with the minimum fluctuation as the synchronous reference for currently executing the media playing synchronous operation, calculates the reference clock according to the determined synchronous reference, and the media playing unit executes the media playing synchronous operation according to the reference clock.
The media playing device monitors the reliability of several synchronous references in real time, can determine the synchronous references according to the actual conditions of media playing, realizes dynamic adjustment of the synchronous references of the media playing, and eliminates the problems of audio and video pause, frame loss and the like frequently caused by PTS and PCR to the greatest extent, so that the actual playing effect reaches the best smoothness degree, and the user experience is improved.
In summary, the embodiments of the present invention monitor the reliability of several synchronization references in real time, and can determine the synchronization references according to the actual situation of media playing, thereby implementing dynamic adjustment of the media playing synchronization references, and eliminating the problems of audio and video pause, frame loss, etc. frequently caused by PTS and PCR to the maximum extent, so that the actual playing effect reaches the best smoothness, and user experience is improved.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by hardware that is instructed by a program, and the program may be stored in a computer-readable storage medium, such as a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, and the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for media playback synchronization, comprising:
acquiring data of each synchronous reference of media playing in real time;
analyzing the fluctuation of data of each synchronous reference by taking a local system clock as a reference;
and taking the synchronization reference corresponding to the data with the minimum fluctuation as the current synchronization reference to execute the media playing synchronization operation.
2. The method of claim 1, wherein the data for each synchronization reference comprises:
the program clock is referenced to one or more of the PCR, the audio play time stamp, or the video play time stamp.
3. The method of claim 1 or 2, wherein analyzing fluctuations in data of each synchronization reference with reference to a local system clock comprises:
comparing the acquired data of each synchronous reference with a local system clock, and recording the deviation value of the data of each synchronous reference;
after the time for acquiring the data of each synchronization reference reaches a specified time, calculating the average value of the deviation values of the recorded data of each synchronization reference for each synchronization reference;
respectively counting the number of points of the deviation value of the data of each synchronous reference in each interval, and calculating the weighted sum of each synchronous reference according to the number of points of the deviation value in each interval and the coefficient of each interval; the intervals are N intervals defined by taking the calculated average value as a center, and N is a natural number greater than zero;
the fluctuation becomes larger as the weighted sum decreases.
4. The method of claim 3, wherein calculating a weighted sum of synchronization references based on the number of points the deviation value falls in each interval and the interval coefficients comprises:
the weighted sum is 1 point number in a section × 1 coefficient + 2 point number in a section × 2 coefficient + - ·+ N point number in a section × N coefficient in a section.
5. The method of claim 4, wherein the distance of interval 1 to the center < the distance of interval 2 to the center < the distance of interval N to the center; the interval 1 coefficient > the interval 2 coefficient > the interval N system.
6. The method of claim 4, wherein the divided intervals and the coefficients of the intervals are the same for each synchronization reference.
7. A media playback apparatus, comprising: the device comprises a media playing unit, an acquisition unit, an analysis unit and a synchronization reference determination unit;
the media playing unit is used for playing media files;
the acquisition unit is used for acquiring data of each synchronous reference of media playing in real time;
the analysis unit is used for analyzing the fluctuation of the data of each synchronous reference by taking a local system clock as a reference;
the synchronization reference determining unit is used for taking the synchronization reference corresponding to the data with the minimum fluctuation as the synchronization reference for currently executing the media playing synchronization operation;
the media playing unit is further configured to perform media playing synchronization operation according to the synchronization reference determined by the synchronization reference determining unit.
8. The media playback device of claim 7, wherein the analysis unit further comprises:
the deviation recording subunit is used for comparing the acquired data of each synchronous reference with a local system clock and recording the deviation value of the data of each synchronous reference;
an average value calculation operator unit, configured to calculate an average value of deviation values of the recorded data of the respective synchronization references for the respective synchronization references after the time for acquiring the data of the respective synchronization references by the acquisition unit reaches a predetermined time;
the counting subunit is used for counting the number of points of the deviation value of the data of each synchronous reference in each interval; the intervals are N intervals defined by taking the calculated average value as a center, and N is a natural number greater than zero;
and a weighted sum calculating subunit for calculating a weighted sum of the synchronization references based on the number of points at which the deviation value falls in each section and the section coefficients, the fluctuation becoming larger as the weighted sum decreases.
9. The media player of claim 8, further comprising:
and the clock monitoring unit is used for monitoring the time for acquiring the data of each synchronous reference by the acquisition unit and providing the time for the average value operator unit to be used as the time for judging and calculating the average value.
10. The media player of claim 7, 8 or 9, wherein the synchronization reference determination unit further comprises:
a synchronization reference determining subunit, configured to use a synchronization reference corresponding to the data with the minimum fluctuation as a synchronization reference for currently executing a media playing synchronization operation;
and the reference clock generating subunit is used for generating the reference clock according to the determined synchronous reference.
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| CN2010102196210A CN101887739B (en) | 2010-06-25 | 2010-06-25 | Method and device for synchronizing media play |
| PCT/CN2011/074986 WO2011150826A1 (en) | 2010-06-25 | 2011-05-31 | Method and device for synchronization during media playback |
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| CN2010102196210A CN101887739B (en) | 2010-06-25 | 2010-06-25 | Method and device for synchronizing media play |
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| WO2011150826A1 (en) * | 2010-06-25 | 2011-12-08 | 华为技术有限公司 | Method and device for synchronization during media playback |
| CN105721920A (en) * | 2014-12-04 | 2016-06-29 | 中国移动通信集团公司 | Method and apparatus for cooperative playing of media on multi devices, and terminal |
| CN106028066A (en) * | 2015-03-24 | 2016-10-12 | 英特尔公司 | Distributed media stream synchronization control |
| CN107515825A (en) * | 2017-08-22 | 2017-12-26 | 网易（杭州）网络有限公司 | Fluency method of testing and device, storage medium, terminal |
| CN110858922A (en) * | 2018-08-23 | 2020-03-03 | 晨星半导体股份有限公司 | Operation method of digital video and audio device |
| CN114339353A (en) * | 2021-12-31 | 2022-04-12 | 晶晨半导体科技(北京)有限公司 | Audio and video synchronization method and device, electronic equipment and computer readable storage medium |
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| WO2011150826A1 (en) * | 2010-06-25 | 2011-12-08 | 华为技术有限公司 | Method and device for synchronization during media playback |
| CN105721920A (en) * | 2014-12-04 | 2016-06-29 | 中国移动通信集团公司 | Method and apparatus for cooperative playing of media on multi devices, and terminal |
| CN105721920B (en) * | 2014-12-04 | 2019-04-02 | 中国移动通信集团公司 | A kind of media cooperate with the method, apparatus and terminal of broadcasting in more equipment |
| CN106028066A (en) * | 2015-03-24 | 2016-10-12 | 英特尔公司 | Distributed media stream synchronization control |
| CN106028066B (en) * | 2015-03-24 | 2019-02-15 | 英特尔公司 | Distributed media stream synchronously control |
| CN107515825A (en) * | 2017-08-22 | 2017-12-26 | 网易（杭州）网络有限公司 | Fluency method of testing and device, storage medium, terminal |
| CN110858922A (en) * | 2018-08-23 | 2020-03-03 | 晨星半导体股份有限公司 | Operation method of digital video and audio device |
| CN114339353A (en) * | 2021-12-31 | 2022-04-12 | 晶晨半导体科技(北京)有限公司 | Audio and video synchronization method and device, electronic equipment and computer readable storage medium |
| WO2023124173A1 (en) * | 2021-12-31 | 2023-07-06 | 晶晨半导体(上海)股份有限公司 | Audio and video synchronization method and apparatus, electronic device and computer-readable storage medium |
| CN114339353B (en) * | 2021-12-31 | 2023-09-29 | 晶晨半导体科技(北京)有限公司 | Audio/video synchronization method and device, electronic equipment and computer readable storage medium |
| CN114397671A (en) * | 2022-03-24 | 2022-04-26 | 智道网联科技(北京)有限公司 | Course angle smoothing method and device of target and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011150826A1 (en) | 2011-12-08 |
| CN101887739B (en) | 2012-07-04 |
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