CN110708504A - Data processing method and system based on parallel driving - Google Patents
Data processing method and system based on parallel driving Download PDFInfo
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- CN110708504A CN110708504A CN201910840512.1A CN201910840512A CN110708504A CN 110708504 A CN110708504 A CN 110708504A CN 201910840512 A CN201910840512 A CN 201910840512A CN 110708504 A CN110708504 A CN 110708504A
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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
- 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
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/21—Circuitry for suppressing or minimising disturbance, e.g. moiré or halo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
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Abstract
The invention provides a data processing method and a data processing system based on parallel driving, wherein the method comprises the following steps: the method comprises the steps that a first terminal receives target video data sent by a server and accordingly obtains the state of a vehicle; according to the state of the vehicle, when judging whether the intervention state of the control equipment is needed, receiving a first control signal sent by the control equipment; sending the first control signal to a server; the server adds a first timestamp to the first control signal, generates a second control signal and sends the second control signal to the vehicle-end processor; the vehicle-end processor analyzes the second control signal to obtain a first control signal and a first time stamp; and the vehicle-end processor calculates the time difference value of the second time stamp and the first time stamp when the second control signal is received, and processes the first control signal when the time difference value is not greater than a preset time threshold value. Therefore, the resource consumption of the vehicle end is smaller, the vehicle can enter a parallel driving mode in time, and the accuracy of parallel driving is improved.
Description
Technical Field
The invention relates to the field of data processing, in particular to a data processing method and system based on parallel driving.
Background
The initial idea of parallel driving is formed in the middle of the 90 s of the 20 th century, and in recent years, with the development of technologies such as internet, big data, cloud computing, internet of things, artificial intelligence and the like, software-defined components, processes and systems gradually come into the public view, so that the development of parallel driving is further promoted.
In the prior art, when the vehicle is driven in parallel, the real environment of the vehicle and the state information of the vehicle are recorded and analyzed in real time, but the volume of video image data is generally large, and due to the limitation of network transmission and hardware level, if the data has time delay, the parallel driving end executes wrong operation.
Therefore, the prior art has the problems that: the data volume of the vehicle-mounted camera is large, so that the quantity received by the parallel driving terminals is large, and when the network condition is not good, the data received by the parallel driving terminals is delayed, so that the real-time execution operation cannot be performed.
Disclosure of Invention
The embodiment of the invention aims to solve the problems that in the prior art, the number of the parallel driving terminals is large, and when the network condition is poor, the data received by the parallel driving terminals is delayed, so that the operation cannot be executed in real time.
In order to solve the above problem, in a first aspect, the present invention provides a data processing method based on parallel driving, the method including:
a first terminal receives target video data sent by a server;
acquiring the state of the vehicle according to the target video data;
judging whether control equipment is needed to intervene according to the state of the vehicle;
when the control equipment needs to be accessed, receiving a first control signal sent by the control equipment;
sending the first control signal to a server;
the server adds a first timestamp to the first control signal, generates a second control signal and sends the second control signal to a vehicle-end processor;
the vehicle-end processor analyzes the second control signal to obtain a first control signal and a first timestamp;
and the vehicle-end processor calculates a second time stamp when the second control signal is received and a time difference value of the first time stamp, and processes the first control signal when the time difference value is not greater than a preset time threshold value.
In one possible implementation, the method further includes, before the step of:
the method comprises the steps that a vehicle-end processor obtains original video data collected by each camera in multiple paths of cameras loaded around a vehicle;
splicing and compressing the multiple paths of original video data to obtain a path of target video data;
and sending the target video data to a server.
In one possible implementation, the camera is a wide-angle camera; the splicing and compressing processing is performed on the multiple paths of original video data to obtain a path of target video data, and the method specifically comprises the following steps:
carrying out barrel distortion correction on the original video data to obtain barrel distortion corrected original video data;
splicing and compressing the original video data after barrel distortion correction to obtain video splicing data;
compressing the video splicing data to obtain a path of target video data; the video data of the same path comprises the pictures with the same number as the cameras.
In a possible implementation manner, before acquiring the state of the vehicle according to the target video data, the method further includes:
and the first terminal sends the target video data to screen projection equipment so that the screen projection equipment displays the target video data.
In a possible implementation manner, before receiving the first control signal sent by the control device when the state of the vehicle is a state requiring intervention of the control device, the method further includes:
when the state of the vehicle is the state needing the intervention of the control equipment, the first terminal generates an alarm signal;
and the first terminal plays or displays the alarm signal after processing the alarm signal.
In a possible implementation manner, the control device is specifically a parallel driving platform, the parallel driving platform is connected with the first terminal, and the parallel driving platform is provided with a handle and a steering wheel for controlling the speed.
In one possible implementation, the method further includes:
the first terminal receives ultrasonic data sent by a server;
acquiring the distance between the vehicle and the obstacle according to the ultrasonic data and the target video data;
and judging whether control equipment intervention is needed or not according to the distance between the vehicle and the obstacle and the state of the vehicle.
In one possible implementation, the method further includes:
and when the time difference value is larger than a preset time threshold value, the vehicle-end processor does not execute the first control signal.
In a second aspect, the invention provides a data processing system based on parallel driving, which comprises the first terminal, the server, the control device and the vehicle-end processor of any one of the first aspect.
By applying the data processing method and system based on parallel driving provided by the embodiment of the invention, the vehicle end is on a limited platform, the resource consumption is less, when a fault occurs, the vehicle end can enter a parallel driving mode in time and carry out delay detection, the occurrence of an unexpected situation caused by the fact that the vehicle end executes control when the network condition is not good is avoided, and the accuracy of parallel driving is improved.
Drawings
Fig. 1 is a schematic flow chart of a data processing method based on parallel driving according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a data processing method based on parallel driving according to an embodiment of the present invention. The method is applied to an unmanned vehicle, such as an automatic sweeper, and comprises the following steps as shown in fig. 1:
Wherein, the first terminal is a parallel driving terminal.
Before step 101, the method further comprises:
firstly, a vehicle end processor acquires original video data collected by each camera in a plurality of paths of cameras loaded around a vehicle; then, splicing and compressing the multiple paths of original video data to obtain one path of target video data; and finally, sending the target video data to a server.
In one example, the vehicle-end processor is an Automated Vehicle Control Unit (AVCU) on the vehicle, which corresponds to the "brain" of the autonomous vehicle. The vehicle is provided with a front camera, a rear camera, a left camera and a right camera which are wide-angle cameras, and the vehicle-end processor performs barrel distortion correction on the original video data to obtain barrel distortion corrected original video data; splicing and compressing the original video data after barrel distortion correction to obtain video splicing data; and compressing the video splicing data to obtain one path of target video data of the pictures with the same number as the cameras.
The wide-angle camera is adopted to collect original video data, so that the original video data has certain barrel distortion, and the original video data is more easily accepted after barrel distortion correction.
The video data shot by the four cameras on the front side, the rear side, the left side and the right side can be synchronously processed according to the time stamp of each original video data, the same parts in the four original video data are subjected to detail enhancement, and then noise reduction processing is carried out subsequently, so that video splicing data are obtained. The video splicing data is encoded in the prior art, which is not described herein again.
Original video data of the cameras in different directions are spliced, so that target video data can truly feed back the environment where the vehicle is located, the target video data can be accepted by people, and user experience is improved. By compressing and converting the code rate of the original video splicing data, the target video compression data can be stored in a small storage space on a limited hardware platform, so that the resource waste is reduced, and the target video data can be uploaded by a subsequent vehicle-end processor in a small bandwidth resource, so that the transmission rate is improved.
And 102, acquiring the state of the vehicle according to the target video data.
The first terminal sends the target video data to the screen projection equipment so that the screen projection equipment can display the target video data, and therefore the target video data of the front camera, the rear camera, the left camera and the right camera can be displayed in 4 pictures in one interface on the screen projection equipment.
The state of the vehicle may include a normal running state, a state surrounded by a plurality of obstacles, and the like, among others.
And 103, judging whether the control equipment is needed to intervene or not according to the state of the vehicle.
And 104, receiving a first control signal sent by the control equipment when the control equipment needs to intervene.
Specifically, by way of example and not limitation, in the first terminal, the images of various abnormal states of the vehicle may be processed by various techniques, such as a neural network, and then stored after being clustered. The first terminal can compare the current state with a pre-stored picture of the state, and when the state of the vehicle is judged to be the state needing the intervention of the control equipment, the first terminal generates an alarm signal; and after the first terminal processes the alarm signal, the alarm signal is played through a playing device or flickered and reminded through light flickering.
Subsequently, after the background worker receives the alarm signal, the control device is operated, for example, a parallel driving platform connected with the first terminal is operated, and the parallel driving platform is provided with a handle and a steering wheel for controlling the speed. Therefore, when the vehicle state does not meet the requirement, the parallel driving mode can be switched to quickly.
Subsequently, the first terminal may send a mode switching instruction to the server, and after the server sends the mode switching instruction to the vehicle-end processor, the vehicle-end processor exits from the automatic driving.
Further, step 102 is followed by: the method comprises the steps that a first terminal receives ultrasonic data sent by a server; acquiring the distance between the vehicle and the obstacle according to the ultrasonic data and the target video data; and judging whether the control equipment is needed to intervene or not according to the distance between the vehicle and the obstacle and the state of the vehicle.
Specifically, the first terminal can also receive the ultrasonic data and judge the distance between the vehicle and the obstacle according to the ultrasonic data, so that the judgment on whether the control equipment is needed to intervene is realized.
The distance data can be reflected on the screen projection equipment, so that background personnel can conveniently and directly acquire the distance data. The first terminal can also sequence the ultrasonic data in sequence so that background personnel can acquire the distance between the vehicle and the obstacle more quickly.
And 106, after adding the first time stamp to the first control signal, the server generates a second control signal and sends the second control signal to the vehicle-end processor.
Specifically, after a backstage person operates a handle and a steering wheel, a first control signal generated after the operation handle and the steering wheel is sent to a first terminal by a parallel driving platform, the first control signal is sent to a server by the first terminal, and a second control signal is generated after the server adds a timestamp to the first control signal and is sent to a vehicle-end processor.
The first control signal may include a steering control command and a torque control command, the steering control command may control steering, and the torque control command may be used to control speed.
And step 107, the vehicle-end processor analyzes the second control signal to obtain a first control signal and a first time stamp.
And 108, calculating a time difference value of the second time stamp and the first time stamp when the vehicle-end processor receives the second control signal, and processing the first control signal by the vehicle-end processor when the time difference value is not greater than a preset time threshold value.
The time threshold may be 1s, and if the time difference between the first time stamp and the second time stamp is less than 1s, it indicates that the network state is good, and the vehicle-end processor may execute the first control signal. When the time difference is larger than 1s, the network state is not good, and the vehicle-end processor does not execute the first control signal at the moment. Thus, delay detection is achieved.
By applying the data processing method based on parallel driving provided by the embodiment of the invention, the vehicle end is on a limited platform, the resource consumption is less, when a fault occurs, the vehicle end can enter a parallel driving mode in time and carry out delay detection, the occurrence of an unexpected situation caused by the fact that the vehicle end executes control when the network condition is not good is avoided, and the accuracy of parallel driving is improved.
The second embodiment of the invention provides a data processing system based on parallel driving, which comprises the first terminal, a server, a control device and a vehicle-end processor.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A data processing method based on parallel driving, characterized in that the method comprises:
a first terminal receives target video data sent by a server;
acquiring the state of the vehicle according to the target video data;
judging whether control equipment is needed to intervene according to the state of the vehicle;
when the control equipment needs to be accessed, receiving a first control signal sent by the control equipment;
sending the first control signal to a server;
the server adds a first timestamp to the first control signal, generates a second control signal and sends the second control signal to a vehicle-end processor;
the vehicle-end processor analyzes the second control signal to obtain a first control signal and a first timestamp;
and the vehicle-end processor calculates a second time stamp when the second control signal is received and a time difference value of the first time stamp, and processes the first control signal when the time difference value is not greater than a preset time threshold value.
2. The method of claim 1, further comprising, prior to the method:
the method comprises the steps that a vehicle-end processor obtains original video data collected by each camera in multiple paths of cameras loaded around a vehicle;
splicing and compressing the multiple paths of original video data to obtain a path of target video data;
and sending the target video data to a server.
3. The method of claim 2, wherein the camera is a wide angle camera; the splicing and compressing processing is performed on the multiple paths of original video data to obtain a path of target video data, and the method specifically comprises the following steps:
carrying out barrel distortion correction on the original video data to obtain barrel distortion corrected original video data;
splicing and compressing the original video data after barrel distortion correction to obtain video splicing data;
compressing the video splicing data to obtain a path of target video data; the video data of the same path comprises the pictures with the same number as the cameras.
4. The method of claim 1, wherein before obtaining the status of the vehicle based on the target video data, further comprising:
and the first terminal sends the target video data to screen projection equipment so that the screen projection equipment displays the target video data.
5. The method according to claim 1, wherein before receiving the first control signal sent by the control device when the state of the vehicle is a state requiring intervention of the control device, the method further comprises:
when the state of the vehicle is the state needing the intervention of the control equipment, the first terminal generates an alarm signal;
and the first terminal plays or displays the alarm signal after processing the alarm signal.
6. Method according to claim 1, characterized in that the control device is embodied as a parallel steering platform connected to the first terminal, the parallel steering platform being provided with a handle and a steering wheel for controlling the speed.
7. The method of claim 1, further comprising:
the first terminal receives ultrasonic data sent by a server;
acquiring the distance between the vehicle and the obstacle according to the ultrasonic data and the target video data;
and judging whether control equipment intervention is needed or not according to the distance between the vehicle and the obstacle and the state of the vehicle.
8. The method of claim 1, further comprising:
and when the time difference value is larger than a preset time threshold value, the vehicle-end processor does not execute the first control signal.
9. A data processing system based on parallel driving, characterized in that the system comprises a first terminal according to any one of claims 1-8, a server, a control device and a vehicle-end processor.
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| CN112379116A (en) * | 2020-10-12 | 2021-02-19 | 星火科技技术(深圳)有限责任公司 | Method, device, storage medium and device for acquiring speed acquisition time |
| CN112379120A (en) * | 2020-10-12 | 2021-02-19 | 星火科技技术(深圳)有限责任公司 | Method, device and equipment for acquiring speed acquisition time and storage medium |
| CN112550281A (en) * | 2020-12-29 | 2021-03-26 | 广州小鹏自动驾驶科技有限公司 | Automatic parking control method and device |
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| CN114419893A (en) * | 2022-01-30 | 2022-04-29 | 重庆长安汽车股份有限公司 | Road problem detection method based on vehicle end data and readable storage medium |
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