CN116233371A - Vehicle remote driving video transmission method and system - Google Patents

Vehicle remote driving video transmission method and system Download PDF

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Publication number
CN116233371A
CN116233371A CN202310505634.1A CN202310505634A CN116233371A CN 116233371 A CN116233371 A CN 116233371A CN 202310505634 A CN202310505634 A CN 202310505634A CN 116233371 A CN116233371 A CN 116233371A
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China
Prior art keywords
vehicle
controller
rstp
data
server
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Pending
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CN202310505634.1A
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Chinese (zh)
Inventor
张跃
田磊
杨孟
韩孝雷
赵玉超
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China National Heavy Duty Truck Group Jinan Power Co Ltd
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China National Heavy Duty Truck Group Jinan Power Co Ltd
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Priority to CN202310505634.1A priority Critical patent/CN116233371A/en
Publication of CN116233371A publication Critical patent/CN116233371A/en
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/40—Support for services or applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/70—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by syntax aspects related to video coding, e.g. related to compression standards
    • 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]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/63—Control signaling related to video distribution between client, server and network components; Network processes for video distribution between server and clients or between remote clients, e.g. transmitting basic layer and enhancement layers over different transmission paths, setting up a peer-to-peer communication via Internet between remote STB's; Communication protocols; Addressing
    • H04N21/643—Communication protocols
    • H04N21/6437—Real-time Transport Protocol [RTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/64—Circuits for processing colour signals
    • H04N9/67—Circuits for processing colour signals for matrixing

Abstract

The invention provides a vehicle remote driving video transmission method and system, which belong to the field of vehicle remote driving, wherein a vehicle-mounted controller obtains RGB video signals around a vehicle through a vehicle-mounted camera and converts the RGB video signals into YUV420P signals; the FFmpeg encoder carries out H.26 compression encoding on the YUV420P signal, adds UDP message header into the encoded data, and encapsulates the encoded data into RTP file; establishing RTSP information interaction, transmitting the RTP file to a server in an RSTP data stream mode, and forwarding the received RSTP data stream to a cockpit controller by the server; the cockpit controller decodes the RSTP data stream and displays video information around the vehicle through a display screen. The invention can observe the surrounding environment of the vehicle in real time and ensure the safe running of the remotely driven vehicle.

Description

Vehicle remote driving video transmission method and system
Technical Field
The invention belongs to the field of vehicle remote driving, and particularly relates to a vehicle remote driving video transmission method and system.
Background
In some complex scenes, such as mining areas, ports and the like, remote driving replaces automatic driving vehicles to make decisions, so that the safety and reliability of automatic driving can be improved, and traffic accidents and casualties are reduced; even when the automatic driving vehicle has a problem, a driver can take over in time, so that the abnormality of the vehicle can be eliminated, the out-of-control state of the vehicle can be changed, and pedestrians and other vehicles can be prevented from being injured by the vehicle.
Remote driving mainly relies on cameras around a vehicle body to acquire surrounding environment videos, the surrounding environment videos are transmitted to a remote driving control room through wireless communication, and a driver judges road conditions according to video information to timely control the vehicle.
Such as application number: 202021639323.2A 5G remote driving system relates to a driving system body and an auxiliary system, wherein the driving system body of the file comprises a seat chassis, a steering wheel, a high-frequency vibration seat, a picture display screen, a loudspeaker and a control module, and the auxiliary system of the file comprises a 5G base station, an information acquisition module, an information receiving module, a target detection module, a target identification module, a target tracking module, a semantic segmentation module, a road detection module, a road line identification module, a road surface equation module, a distance measurement module and an integration module. The 5G remote driving system of the document is used for receiving vehicle posture information of a vehicle through the structures of a driving system body and a seat chassis and simulating the vehicle posture information to perform posture rotation, and the document is used for simulating and restoring driving vibration of the real vehicle through the structures of a steering wheel and a high-frequency vibration seat.
Although the above document realizes remote driving control, in the process of remote monitoring and driving, due to the existence of network delay, the situation that a remote driver cannot acquire clear video information in time may occur, so that potential safety hazards exist in unmanned equipment. Therefore, how to effectively improve the video transmission efficiency is a problem to be solved.
Disclosure of Invention
In order to reduce the communication delay problem, the invention provides a vehicle remote driving video transmission method, which encodes a video into H.265 through FFmpeg to improve the code stream and the encoding quality, and then adopts an RTSP video stream and a 5G network to realize video real-time transmission, thereby improving the video definition, the system compatibility and the transmission rate stability.
The method comprises the following steps:
s1, an on-board controller acquires RGB video signals around a vehicle through an on-board camera, and converts the RGB video signals into YUV420P signals;
s2, performing H.26 compression coding on the YUV420P signal by an FFmpeg coder, adding a UDP message header into coded data, and packaging into an RTP file;
s3, establishing RTSP information interaction, transmitting the RTP file to a server in an RSTP data stream mode, and forwarding the received RSTP data stream to a cockpit controller by the server;
and S4, decoding the RSTP data stream by the cockpit controller, and displaying video information around the vehicle through a display screen.
It should be further noted that, the step S1 further includes the following steps: the vehicle-mounted camera is connected with the vehicle-mounted controller through a GMSL2 four-in-one protocol interface.
It should be further noted that, after each path of input signal of the vehicle-mounted camera in step S1 enters the vehicle-mounted controller, the input signal is deserialized into an MIPI-CSI2 signal by the deserializer and then is input into the SOC system of the vehicle-mounted controller.
In step S1, the SOC system obtains the RGB video signals through the ROS open source operating system, and converts the RGB video images into YUV420P signals through the OpenCV module.
It should be further noted that step S2 further includes the following steps:
and installing an FFmpeg plug-in the SOC system, registering all encoders of the FFmpeg, initializing code stream data, setting encoding parameters and formats, converting YUV420P pixel data into an AVframe structure body required by encoding, encoding the YUV pixel data stored in the AVframe structure body into code stream data in an H.265 format, adding the encoded data into a UDP message header, and packaging the fragments into an RTP file.
It should be further noted that, the step S3 specifically includes the following steps:
establishing a request between a server and a cockpit controller, responding to RSTP data flow connection, initializing a Socket object and setting parameters by a Socket () function at first in a 5G private network downloading controller, and connecting the Socket () function to a server with a specified IP address;
pushing the encapsulated RSTP data stream to a remote server through a send () function;
the server is in a monitoring mode, receives RTSP data stream after detecting the receiving port information and forwards the RTSP data stream to the cockpit controller.
It should be further noted that S4 further includes the following steps:
the cockpit controller receives the RSTP data flow forwarded by the server, decodes the compressed data flow data through the vlc media layer streaming video data and displays real-time videos around the vehicle on a cockpit display screen.
The invention also provides a vehicle remote driving video transmission system, which comprises: the system comprises a vehicle-mounted controller, a vehicle-mounted camera, an encoder, a server, a cockpit controller and a display screen;
the vehicle-mounted controller acquires RGB video signals around the vehicle through a vehicle-mounted camera, and converts the RGB video signals into YUV420P signals;
the encoder is used for carrying out H.26 compression encoding on the YUV420P signal, adding UDP message header into the encoded data, and packaging into RTP file;
the vehicle-mounted controller is also used for establishing RTSP information interaction, sending the RTP file to the server in an RSTP data stream mode, and forwarding the received RSTP data stream to the cockpit controller by the server;
the cockpit controller is used for decoding the RSTP data stream and displaying video information around the vehicle through the display screen.
It should be further noted that the system further includes: GMSL2 four-in-one protocol interface and memory; the vehicle-mounted camera adopts four paths of vehicle-mounted cameras; the vehicle-mounted controller is configured with an SOC system; the storage is stored with an SOC system, an ROS open source operating system, an OpenCV module and an FFmpeg plug-in;
the four-way vehicle-mounted camera is connected with the vehicle-mounted controller through a GMSL2 four-in-one protocol interface, and after the input signals of each way of camera enter the vehicle-mounted controller, the input signals are deserialized into MIPI-CSI2 through a deserializer and then input into the SOC system of the vehicle-mounted controller.
From the above technical scheme, the invention has the following advantages:
the invention can timely process the video information around the vehicle and transmit the video information to the cockpit controller for real-time display, thereby facilitating the viewing of drivers and monitoring personnel and effectively improving the driving safety of the vehicle. The video signals can be efficiently collected, stored and transmitted, real-time observation can be realized based on the running state of the vehicle and the state of the surrounding environment of the vehicle, and the whole driving process can be described by using a multidimensional space. The potential safety hazard in the vehicle driving process is discovered in time, and early warning can be preferably carried out, so that the safety of the vehicle driving process is improved, the vehicle driving risk is reduced, and the timeliness and scientificity of the overall vehicle driving process supervision and control are realized.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for transmitting video for remote driving of a vehicle;
FIG. 2 is a diagram showing the effect of the RGB image of the front of the vehicle according to the present invention;
FIG. 3 is a diagram showing the effect of an RGB image after a vehicle in the present invention;
FIG. 4 is a diagram showing the effect of the left RGB image of the vehicle according to the present invention;
FIG. 5 is a diagram showing the effect of the right RGB image of the vehicle according to the present invention;
FIG. 6 is a drawing showing the effect of a pull-stream video image according to the present invention;
FIG. 7 is a schematic diagram of a vehicle remote drive video transmission system;
FIG. 8 is a schematic diagram of an embodiment of a vehicle remote drive video transmission system.
Detailed Description
The vehicle remote driving video transmission method provided by the invention can observe the surrounding environment of the vehicle in real time through the camera in the running process of the vehicle, so that the safe running of the vehicle in remote driving is ensured. The invention can acquire and process the associated data based on the artificial intelligence technology. The vehicle remote driving video transmission method utilizes the intelligence of a vehicle simulation, extension and expansion person controlled by a digital computer on the vehicle to sense image information and effectively identify.
In the vehicle remote driving video transmission method of the present invention, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages.
The vehicle controller and the cockpit controller of the present invention are microprocessors, application-specific integrated circuits (Application SpecificIntegratedCircuit, ASIC), programmable gate arrays (Field-ProgrammableGate Array, FPGA), digital processors (DigitalSignalProcessor, DSP), etc.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flowchart and a related schematic diagram of a method for transmitting a remote driving video of a vehicle according to an embodiment of the invention are shown, where the method includes:
s1, an on-board controller acquires RGB video signals around a vehicle through an on-board camera, and converts the RGB video signals into YUV420P signals. Here, the YUV420P signal is an image array in YUV420SP format, and is transmitted by means of the YUV420P signal.
RGB is a color standard, which is obtained by changing three color channels of red (R), green (G), and blue (B) and overlapping them with each other, and is a color representing the three channels of red, green, and blue.
In the embodiment of the invention, the vehicle-mounted camera is connected with the vehicle-mounted controller through a GMSL2 four-in-one protocol interface. After the input signals of each path of vehicle-mounted cameras enter the vehicle-mounted controller, the signals are deserialized into MIPI-CSI2 signals through a deserializer and then input into the SOC system of the vehicle-mounted controller.
The MIPI-CSI2 signal is CSI (Camera Serial Interface), a MIPI defined specification, for connecting an onboard camera to an onboard controller for transmitting video signals therein.
The GMSL2 four-in-one protocol interface can be GMSL (GigabitMultimediaSerialLink) a transmission link formed by a serializer and a deserializer, and based on LVDS transmission, the GMSL channel deserializer can simultaneously support data transmission of a 4-path camera and support multi-path camera input.
In the invention, the vehicle-mounted controller obtains RGB video signals through the vehicle-mounted camera in a high-speed transmission mode based on LVDS, so that the signals can be transmitted on a differential PCB line pair or a balanced cable at a speed of hundreds of Mbps or even Gbps, and the low-voltage amplitude and low-current driving output of the vehicle-mounted controller realize low noise and low power consumption.
Here, the LVDS (Low-Voltage Differential Signaling) Low-voltage differential signal is a differential signal with Low power consumption, low bit error rate, low crosstalk, and Low radiation.
The SOC system obtains RGB video signals through the ROS open source operating system and converts the RGB video images into YUV420P signals through the OpenCV module, as shown in fig. 2 to 5.
S2, performing H.26 compression coding on the YUV420P signal by an FFmpeg coder, adding a UDP message header into coded data, and packaging into an RTP file.
In the present invention, SOC is an abbreviation for System on Chip, also referred to as System on Chip. ROS open source operating systems are acronyms for RobotOperating System that provide services that the operating system should have, including hardware abstraction, underlying device control, implementation of common functions, inter-process messaging, and package management. YUV420SP is an image array signal.
H.26x is a new generation digital video compression format following MPEG4, proposed together by the international organization for standardization (ISO) and the International Telecommunications Union (ITU). H.26x is one of the video codec standards named by ITU-T under the name h.26x series.
UDP is the user datagram protocol (UDP, user Datagram Protocol). UDP provides a method for applications to send encapsulated IP packets without having to establish a connection. RTP is a Real-time transport protocol (Real-time Transport Protocol or RTP in short) which is a network transport protocol on the basis of which RTP files can be transported. FFmpeg is a set of open source computer programs that can be used to record, convert digital audio, video, and convert it into streams. The AVFrame structure is used to store raw data (video data is YUV and RGB, and audio data is PCM).
RTSP is a real-time streaming protocol (Real Time Streaming Protocol, RTSP), which is an application layer protocol in the TCP/IP protocol system. The "socket () function is used to allocate a description word of a socket and its resources according to a specified address family, data type, and protocol. connection () is used to establish a connection with a specified socket. send () is a computer function that sends data to one socket that has been connected, and if there is no error, returns a value that is the total number of data sent.
In one exemplary embodiment, an FFmpeg plug-in is installed in the SOC system, all encoders of the FFmpeg are registered, the code stream data is initialized, the encoded parameters and formats are set, and then YUV420P pixel data is converted into an AVFrame structure body required for encoding;
coding YUV pixel data stored in the AVFrame structure body into code stream data in H.265 format, adding UDP header into the coded data, and packaging into RTP file in fragments.
S3, establishing RTSP information interaction, transmitting the RTP file to a server in an RSTP data stream mode, and forwarding the received RSTP data stream to a cockpit controller by the server;
in the embodiment, a request between a server and a cockpit controller is established, and in response to RSTP data flow connection, a vehicular controller is downloaded in a 5G private network, firstly, a Socket object is initialized and parameters are set through a Socket () function, and then a connect () function is connected with a server with a specified IP address;
pushing the encapsulated RSTP data stream to a remote server through a send () function;
the server is in a monitoring mode, receives RTSP data stream after detecting the receiving port information and forwards the RTSP data stream to the cockpit controller.
And S4, decoding the RSTP data stream by the cockpit controller, and displaying video information around the vehicle through a display screen.
As shown in fig. 6, the cockpit controller receives the RSTP data stream forwarded by the server, decodes the compressed data stream data through the vlc media player pull stream video data, and displays real-time video around the vehicle on the cockpit display screen.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Therefore, the invention can timely process and transmit the video information around the vehicle to the cockpit controller for real-time display, thereby facilitating the viewing of drivers and monitoring personnel and effectively improving the driving safety of the vehicle. The video signals can be efficiently collected, stored and transmitted, real-time observation can be realized based on the running state of the vehicle and the state of the surrounding environment of the vehicle, and the whole driving process can be described by using a multidimensional space. The potential safety hazard in the vehicle driving process is discovered in time, and early warning can be preferably carried out, so that the safety of the vehicle driving process is improved, the vehicle driving risk is reduced, and the timeliness and scientificity of the overall vehicle driving process supervision and control are realized.
The following is an embodiment of a vehicle remote driving video transmission system provided by an embodiment of the present disclosure, which belongs to the same inventive concept as the vehicle remote driving video transmission method of the above embodiments, and in details of the embodiment of the vehicle remote driving video transmission system, which are not described in detail, reference may be made to the embodiment of the above vehicle remote driving video transmission method.
As shown in fig. 7 and 8, the system includes: the system comprises a vehicle-mounted controller, a vehicle-mounted camera, an encoder, a server, a cockpit controller and a display screen;
the vehicle-mounted controller acquires RGB video signals around the vehicle through a vehicle-mounted camera, and converts the RGB video signals into YUV420P signals;
the encoder is used for carrying out H.26 compression encoding on the YUV420P signal, adding UDP message header into the encoded data, and packaging into RTP file;
the vehicle-mounted controller is also used for establishing RTSP information interaction, sending the RTP file to the server in an RSTP data stream mode, and forwarding the received RSTP data stream to the cockpit controller by the server;
the cockpit controller is used for decoding the RSTP data stream and displaying video information around the vehicle through the display screen.
In the present invention, the system further comprises: GMSL2 four-in-one protocol interface and memory; the vehicle-mounted camera adopts four paths of vehicle-mounted cameras; the vehicle-mounted controller is configured with an SOC system; the storage is stored with an SOC system, an ROS open source operating system, an OpenCV module and an FFmpeg plug-in;
the four-way vehicle-mounted camera is connected with the vehicle-mounted controller through a GMSL2 four-in-one protocol interface, and after the input signals of each way of camera enter the vehicle-mounted controller, the input signals are deserialized into MIPI-CSI2 through a deserializer and then input into the SOC system of the vehicle-mounted controller.
Based on the system, a driver can observe the surrounding environment of the vehicle in real time in the running process of the vehicle, so that the safe running of the remotely driven vehicle is ensured.
The elements and algorithm steps of each example described in the embodiments disclosed in the vehicle remote driving video transmission method of the present invention can be implemented in electronic hardware, computer software, or a combination of both, and to clearly illustrate the interchangeability of hardware and software, each example's composition and steps have been generally described in terms of functions in the above description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. 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.
In the vehicle remote driving video transmission system of the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A method for transmitting a vehicle remote driving video, the method comprising:
s1, an on-board controller acquires RGB video signals around a vehicle through an on-board camera, and converts the RGB video signals into YUV420P signals;
s2, performing H.26 compression coding on the YUV420P signal by an FFmpeg coder, adding a UDP message header into coded data, and packaging into an RTP file;
s3, establishing RTSP information interaction, transmitting the RTP file to a server in an RSTP data stream mode, and forwarding the received RSTP data stream to a cockpit controller by the server;
and S4, decoding the RSTP data stream by the cockpit controller, and displaying video information around the vehicle through a display screen.
2. The vehicle remote driving video transmission method according to claim 1, characterized in that step S1 further comprises the steps of: the vehicle-mounted camera is connected with the vehicle-mounted controller through a GMSL2 four-in-one protocol interface.
3. The method for transmitting the vehicle remote driving video according to claim 2, wherein after each path of the vehicle-mounted camera input signal in the step S1 enters the vehicle-mounted controller, the input signal is deserialized into an MIPI-CSI2 signal by a deserializer and then is input into the SOC system of the vehicle-mounted controller.
4. The vehicle remote driving video transmission method according to claim 3, wherein in step S1, the SOC system obtains RGB video signals through the ROS open source operating system and converts the RGB video images into YUV420P signals through the OpenCV module.
5. The vehicle remote driving video transmission method according to claim 3, characterized in that step S2 further comprises the steps of:
and installing an FFmpeg plug-in the SOC system, registering all encoders of the FFmpeg, initializing code stream data, setting encoding parameters and formats, converting YUV420P pixel data into an AVframe structure body required by encoding, encoding the YUV pixel data stored in the AVframe structure body into code stream data in an H.265 format, adding the encoded data into a UDP message header, and packaging the fragments into an RTP file.
6. The vehicle remote driving video transmission method according to claim 1, wherein the step S3 specifically includes the steps of:
establishing a request between a server and a cockpit controller, responding to RSTP data flow connection, initializing a Socket object and setting parameters by a Socket () function at first in a 5G private network downloading controller, and connecting the Socket () function to a server with a specified IP address;
pushing the encapsulated RSTP data stream to a remote server through a send () function;
the server is in a monitoring mode, receives RTSP data stream after detecting the receiving port information and forwards the RTSP data stream to the cockpit controller.
7. The method for transmitting vehicle remote driving video according to claim 1, wherein,
s4, further comprising the following steps:
the cockpit controller receives the RSTP data flow forwarded by the server, decodes the compressed data flow data through the vlc media layer streaming video data and displays real-time videos around the vehicle on a cockpit display screen.
8. A vehicle remote driving video transmission system, characterized in that the system adopts the vehicle remote driving video transmission method according to any one of claims 1 to 7;
the system comprises: the system comprises a vehicle-mounted controller, a vehicle-mounted camera, an encoder, a server, a cockpit controller and a display screen;
the vehicle-mounted controller acquires RGB video signals around the vehicle through a vehicle-mounted camera, and converts the RGB video signals into YUV420P signals;
the encoder is used for carrying out H.26 compression encoding on the YUV420P signal, adding UDP message header into the encoded data, and packaging into RTP file;
the vehicle-mounted controller is also used for establishing RTSP information interaction, sending the RTP file to the server in an RSTP data stream mode, and forwarding the received RSTP data stream to the cockpit controller by the server;
the cockpit controller is used for decoding the RSTP data stream and displaying video information around the vehicle through the display screen.
9. The vehicle remote driving video transmission system according to claim 8, wherein,
the system further comprises: GMSL2 four-in-one protocol interface and memory; the vehicle-mounted camera adopts four paths of vehicle-mounted cameras; the vehicle-mounted controller is configured with an SOC system; the storage is stored with an SOC system, an ROS open source operating system, an OpenCV module and an FFmpeg plug-in;
the four-way vehicle-mounted camera is connected with the vehicle-mounted controller through a GMSL2 four-in-one protocol interface, and after the input signals of each way of camera enter the vehicle-mounted controller, the input signals are deserialized into MIPI-CSI2 through a deserializer and then input into the SOC system of the vehicle-mounted controller.
CN202310505634.1A 2023-05-08 2023-05-08 Vehicle remote driving video transmission method and system Pending CN116233371A (en)

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CN106713852A (en) * 2016-12-08 2017-05-24 南京邮电大学 Multi-platform wireless vehicle-mounted monitoring system
CN207475763U (en) * 2017-11-17 2018-06-08 深圳市科比特航空科技有限公司 A kind of UAV Video coded system
CN112286166A (en) * 2020-10-12 2021-01-29 上海交通大学 Vehicle remote driving control system and method based on 5G network
CN115209108A (en) * 2022-07-13 2022-10-18 安徽工业大学 Transmission system based on 5G embedded video

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103248964A (en) * 2013-04-07 2013-08-14 同济大学 Vehicle-mounted video transmission system based on Real Time Protocol (RTP)/RTCP (Real-time Transport Control Protocol)
CN106713852A (en) * 2016-12-08 2017-05-24 南京邮电大学 Multi-platform wireless vehicle-mounted monitoring system
CN207475763U (en) * 2017-11-17 2018-06-08 深圳市科比特航空科技有限公司 A kind of UAV Video coded system
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Application publication date: 20230606