CN116366834A - Video delay real-time measurement system and method for remote driving - Google Patents
Video delay real-time measurement system and method for remote driving Download PDFInfo
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Abstract
The invention discloses a video delay real-time measurement system and a method for remote driving, comprising a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center; the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device; the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; and calculating a difference value between the first count value and the second count value to obtain a time delay measurement value. Therefore, the invention can realize real-time, long-term and reliable high-precision G-To-G delay test.
Description
Technical Field
The invention relates to the technical field of vehicle remote control, in particular to a video delay real-time measurement system and method for remote driving.
Background
At present, because the 5G communication technology has the characteristics of low delay and high bandwidth, the 5G communication technology is used to transmit video information and vehicle control instructions in real time between the intelligent network vehicle and a control center at a far end (for example, a cloud end), so that remote driving of the intelligent network vehicle from the far end is a very useful method. The remote driving method can be applied to closed field testing, public road testing and actual intelligent network vehicle operation of the intelligent network vehicle.
In practice it has been found that during remote driving control, a remote operator (or also called remote driver) needs to decide how to maneuver the remote vehicle by observing a video stream of traffic environment information from the remote, which is displayed on a local display device. However, this process introduces a time delay, commonly referred To in the industry as a G-To-G (lens-To-display, abbreviated as G-To-G) delay, which is the total delay between entering the camera lens from the external environment and outputting from the display. When the G-To-G delay is too large (for example, more than 100 ms), there is a fatal danger if the operator still refers To the video information To perform the remote driving of the vehicle. Due to buffering and compression of the video stream, the operator is not able to observe and perceive in real time from the video information itself whether or not the current video has a delay, and how much delay (delay has actually occurred when the delay is observed from the video). Thus, to ensure reliability of remote driving, the remote driver must obtain the G-To-G delay information of the video in real time To decide what action should be taken (e.g., emergency stop when the G-To-G delay is too great, or pause remote control, and pass local control To the vehicle, etc.). It can be seen that there is a need for a real-time, long-term, reliable high-precision G-To-G delay test method and system.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a video delay real-time measurement system and method for remote driving, which can realize real-time, long-term and reliable high-precision G-To-G delay test.
According to one aspect of the embodiment of the invention, a resource control system based on a cloud platform is provided, which comprises a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center;
the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device;
the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; and calculating a difference value between the first count value and the second count value to obtain a time delay measurement value.
As an alternative embodiment, the vehicle end device comprises a first GPS receiver with a second pulse output, a first crystal oscillator, a frequency divider, a first counter and a counter display panel;
the first GPS receiver is used for generating the GPS second pulse signal and sending the GPS second pulse signal to the first crystal oscillator so as to calibrate the output frequency of the first crystal oscillator; wherein one of said GPS pulse-per-second signals is generated;
the first crystal oscillator is used for receiving the GPS second pulse signal and outputting the crystal oscillator signal corresponding to the GPS second pulse signal to the first counter and the frequency divider;
the first counter is used for responding to the crystal oscillator signal to count and controlling the counter display panel to display the count value;
the frequency divider is used for carrying out frequency division processing on the crystal oscillator signal and outputting a video acquisition instruction so that video acquisition equipment responds to the video acquisition instruction to acquire the real-time traffic video stream;
the first counter is further used for responding to the video acquisition instruction and locking the current count value of the counter display panel.
As an alternative embodiment, the remote control device includes a second GPS receiver with a second pulse output, a first photoelectric converter, a second oscillator, a second counter, a display buffer reading module, and a video delay calculating and outputting unit;
the second GPS receiver is used for generating a second pulse signal every second and inputting the second pulse signal into the first photoelectric converter;
the first photoelectric converter is used for converting the second pulse signal into an optical signal so as to transmit the optical signal to the second photoelectric converter arranged in a room through an optical fiber;
the second photoelectric converter is used for converting the optical signal into an electric pulse signal and sending the electric pulse signal into the second oscillator;
the second oscillator is used for receiving the electric pulse signal and outputting a signal to the second counter so that the second counter can determine the current time stamp;
the display buffer reading module is used for reading the buffer data of the display device from the video display device to obtain the real-time traffic video stream, and determining the current timestamp of the second counter as the first count value;
the video delay calculating and outputting unit is used for analyzing the count value on the counter panel in the real-time traffic video stream to obtain the second count value; and calculating the difference between the first count value and the second count value to obtain the time delay measurement value.
As an alternative embodiment, the output frequencies of the first crystal oscillator and the second crystal oscillator are the same.
As an alternative embodiment, the output frequency is 1000 hz.
According to another aspect of the embodiment of the present invention, there is also provided a video delay real-time measurement method for remote driving, applied to a vehicle-side device, including:
triggering and collecting real-time traffic video stream through the GPS second pulse signal and the crystal oscillator signal;
and transmitting the real-time traffic video stream to the remote control device so that the remote control device calculates a time delay measurement value based on a first count value obtained when the real-time traffic video stream is obtained by reading the buffer data of the display device and a second count value obtained by analyzing a counter panel in the real-time traffic video stream.
As an optional implementation manner, the triggering and collecting the real-time traffic video stream through the GPS pulse-per-second signal and the crystal oscillator signal includes:
generating the crystal oscillator signal corresponding to the GPS second pulse signal based on the GPS second pulse signal;
responding to the crystal oscillator signal to count, and controlling the counter panel to display the count value;
performing frequency division processing on the crystal oscillator signal, and outputting a video acquisition instruction so that video acquisition equipment responds to the video acquisition instruction to acquire the real-time traffic video stream;
and responding to the video acquisition instruction, and locking the current count value of the counter panel to serve as the second count value.
According to still another aspect of the embodiment of the present invention, there is also provided a video delay real-time measurement method for remote driving, applied to a remote control device, including:
reading buffer zone data of display equipment to obtain the real-time traffic video stream, and recording a first count value;
analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value;
and calculating the difference value between the first count value and the second count value to obtain a time delay measurement value.
As an alternative embodiment, the method further comprises:
receiving an optical signal transmitted by an optical fiber;
converting the optical signal into an electrical pulse signal;
based on the electrical pulse signal, a current timestamp is determined.
As an optional implementation manner, the reading the buffer data of the display device, obtaining the real-time traffic video stream, and recording a first count value includes:
and reading the buffer data of the display device from the video display device to obtain the real-time traffic video stream, and determining the current timestamp at the moment as the first count value.
According to yet another aspect of an embodiment of the present invention, there is also provided a computing device including: at least one processor, memory, and input output unit; the memory is used for storing a computer program, and the processor is used for calling the computer program stored in the memory to execute the video delay real-time measurement method for remote driving.
According to yet another aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium including instructions that, when run on a computer, cause the computer to perform the video delay real-time measurement method for remote driving described above.
In the embodiment of the invention, the video delay real-time measurement system for remote driving comprises a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center; the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device; the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; calculating the difference value between the first count value and the second count value to obtain a time delay measurement value; therefore, the invention carries out time synchronization by adding the crystal oscillator into the GPS second pulse signal, improves the reliability of delay test, directly reads the data of the buffer area of the display equipment, and can improve the accuracy of the delay test, thereby realizing the real-time, long-term and reliable high-precision G-To-G delay test.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of an alternative video delay real-time measurement system for remote driving in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative video delay real-time measurement system for remote driving according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative video delay real-time measurement method for remote driving according to an embodiment of the present invention;
fig. 4 is a flow chart of another alternative video delay real-time measurement method for remote driving according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring now to fig. 1, fig. 1 is a schematic structural diagram of a video delay real-time measurement system for remote driving according to an embodiment of the present invention. It should be noted that embodiments of the present invention may be applied to any scenario where applicable. The video delay real-time measurement system for remote driving, which is provided by an embodiment of the invention shown in fig. 1, comprises a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center;
the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device;
the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; and calculating a difference value between the first count value and the second count value to obtain a time delay measurement value.
In this embodiment, the video delay real-time measurement system for remote driving may include a vehicle-end device installed at a vehicle-end of an intelligent network, and a remote control device installed at a remote driving center in a room. The vehicle end device can establish communication connection with the remote driving center through a 5G communication network, can collect real-time traffic video streams on a running road of the intelligent network link end, and sends the real-time traffic video streams to a remote control device arranged indoors, so that the remote control device generates remote vehicle control instructions for the intelligent network link end based on the real-time traffic video streams.
The real-time traffic video stream comprises locked counter panel images, and the display time of the counter panel images is the time when the video stream is acquired by the data camera. In addition, the counter of the remote driving center and the time displayed by the IDE counter of the vehicle end device are completely synchronous due to the synchronous mechanism of the GPS and the high-precision frequency division of the frequency divider. The complete synchronization here means that the error meets the accuracy requirement, and can be determined by the accuracy of the frequency divider, for example, the error can be configured to be 1ms, and then the error between the time displayed by the counter panel of the vehicle end device and the counter of the remote driving center is not greater than 1ms.
The vehicle end device and the remote control device can be used as a time synchronization mechanism for video delay test through GPS second pulse signals and crystal oscillator signals, so that long-term stability of the test is ensured. The GPS pulse per second signal can be a pulse generated by a GPS receiver every second, and the GPS receiver can generate a pulse every second. The crystal oscillator signal can be an output signal of the crystal oscillator, and the crystal oscillator signal can be used for counting by a counter. And the GPS second pulse signal is used for calibrating the output frequency of the crystal oscillator at regular intervals, so that the long-term stability of crystal oscillator output is ensured.
And, the output frequency of the crystal oscillator is preferably set to 1000Hz to achieve the test accuracy of 1ms. And when the crystal oscillator signals output by the crystal oscillator are counted, the output frequency of the crystal oscillator is transmitted to the frequency divider to divide the frequency, so that the output of the frequency divider triggers the video acquisition equipment to acquire real-time traffic video streams, and the real-time traffic video streams are transmitted to the remote control device. The vehicle-end device can further comprise video acquisition equipment, wherein the video acquisition equipment is equipment which is installed at the intelligent network vehicle-end and is used for acquiring real-time traffic video streams, such as a camera.
The remote control device can read the buffer area data of the display device from the buffer area of the video display device to obtain the real-time traffic video stream, and record the first count value at the moment. And analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value, and calculating the difference between the first count value and the second count value to obtain a time delay measurement value.
The first count value may be a value of a time counter of the display device outputting the current video (real-time traffic video stream), and the second count value may be a value of a time counter of the video acquisition device acquiring the real-time traffic video stream. By calculating the difference between the first count value and the second count value, a time delay measurement can be obtained.
As an alternative embodiment, the vehicle end device comprises a first GPS receiver with a second pulse output, a first crystal oscillator, a frequency divider, a first counter and a counter display panel;
the first GPS receiver is used for generating the GPS second pulse signal and sending the GPS second pulse signal to the first crystal oscillator so as to calibrate the output frequency of the first crystal oscillator; wherein one of said GPS pulse-per-second signals is generated;
the first crystal oscillator is used for receiving the GPS second pulse signal and outputting the crystal oscillator signal corresponding to the GPS second pulse signal to the first counter and the frequency divider;
the first counter is used for responding to the crystal oscillator signal to count and controlling the counter display panel to display the count value;
the frequency divider is used for carrying out frequency division processing on the crystal oscillator signal and outputting a video acquisition instruction so that video acquisition equipment responds to the video acquisition instruction to acquire the real-time traffic video stream;
the first counter is further used for responding to the video acquisition instruction and locking the current count value of the counter display panel.
In the embodiment, the second pulse output of the GPS receiver generates a pulse every second, and the second pulse is sent to the crystal oscillator for calibrating the output frequency of the crystal oscillator at regular intervals, so that the long-term stability of the crystal oscillator output is ensured; then, the output of the crystal oscillator is sent to a counter for counting, and the counted value is displayed on a display panel. And the output frequency of the crystal oscillator is simultaneously fed into a frequency divider for frequency division, the output of the frequency divider is used for triggering the acquisition of the video acquisition equipment, and the signal is simultaneously used for locking the display panel of the trigger counter to refresh so as to prevent the image from being shot out of the fuzzy counter.
As an alternative embodiment, the remote control device includes a second GPS receiver with a second pulse output, a first photoelectric converter, a second oscillator, a second counter, a display buffer reading module, and a video delay calculating and outputting unit;
the second GPS receiver is used for generating a second pulse signal every second and inputting the second pulse signal into the first photoelectric converter;
the first photoelectric converter is used for converting the second pulse signal into an optical signal so as to transmit the optical signal to the second photoelectric converter arranged in a room through an optical fiber;
the second photoelectric converter is used for converting the optical signal into an electric pulse signal and sending the electric pulse signal into the second oscillator;
the second oscillator is used for receiving the electric pulse signal and outputting a signal to the second counter so that the second counter can determine the current time stamp;
the display buffer reading module is used for reading the buffer data of the display device from the video display device to obtain the real-time traffic video stream, and determining the current timestamp of the second counter as the first count value;
the video delay calculating and outputting unit is used for analyzing the count value on the counter panel in the real-time traffic video stream to obtain the second count value; and calculating the difference between the first count value and the second count value to obtain the time delay measurement value.
In this embodiment, since the remote driving centers are all disposed indoors and cannot directly receive satellite signals, the second pulse signals are first converted into optical signals by one photoelectric converter, then transmitted into the room through the optical fiber, and then converted into electrical pulse signals by one photoelectric converter, and then sent into the crystal oscillator for calibrating the output frequency of the crystal oscillator periodically. Since the photoelectric conversion and fiber optic transmission times are negligible relative to the measurement, the time stamp obtained by the counter is the time stamp of the vehicle end video acquisition (i.e., the vehicle end counter panel display value).
And the output signal is sent to a calculator for counting to obtain the current time stamp. And the display buffer zone reading module directly reads the current video from the buffer zone of the video display device, and simultaneously records the value of the counter, and records the value as a first count value T1, namely the moment when the display device outputs the current video, namely the moment when the video is output, observed by eyes of an operator (the refresh frequency of the used display device is larger than the frame rate of the video, for example, the refresh frequency of the display device is 120Hz, and the frame rate of the video is 50 Hz). And the video delay calculation module analyzes the count value on the counter panel in the video stream by using a visual recognition technology, and records the count value as a second count value T0, and then the difference between T1 and T0 is the G-To-G delay of the video, namely the time delay measurement value.
As an alternative embodiment, the output frequencies of the first crystal oscillator and the second crystal oscillator are the same.
As an alternative embodiment, the conversion frequency of the photoelectric converter is 10 mhz.
As an alternative embodiment, the output frequency is 1000 hz.
In the present embodiment, the output frequency of the crystal oscillator is set to 1000Hz in order to achieve a test accuracy of 1ms. And the output frequencies of the first crystal oscillator and the second crystal oscillator are the same, so that the time synchronism between the vehicle end device and the remote control device can be further ensured, and the measurement accuracy and reliability are further improved.
Referring to fig. 2 together, fig. 2 is a schematic structural diagram of another alternative video delay real-time measurement system for remote driving according to an embodiment of the present invention, as shown in fig. 2, a vehicle-end device is disposed above fig. 2, and the vehicle-end device includes a GPS receiver with a second pulse output, a crystal oscillator, a counter, a frequency divider, a counter display panel, a digital camera, and a video acquisition and processing device. The remote control device is arranged below the figure 2, and comprises a GPS receiver with second pulse output, a photoelectric conversion module, a crystal oscillator, a counter, a video delay calculation and output module, a display buffer area content reading module and video processing and display equipment. The frequency divider triggers the acquisition of the digital camera and the measurement of delay every time the frequency divider outputs a pulse, and one acquisition corresponds to one frame of the video stream, so that delay measurement is carried out for each frame, and frame-by-frame measurement is realized. The vehicle end device and the remote control device are both provided with a GPS receiver and a crystal oscillator with second pulse output, and the GPS second pulse signal and the crystal oscillator are used as a time synchronization mechanism for video delay test, so that the long-term stability of the test can be ensured. And moreover, the second pulse signal of the GPS is used for synchronously acquiring the video and locking the counter for display after frequency division, so that the phenomenon that the acquired counter value is fuzzy in the shooting process of the digital camera, and the subsequent time stamp signal cannot be analyzed can be prevented. And the optical fiber is used for transmitting the GPS pulse per second signal, so that the problem that the GPS signal cannot be received indoors can be solved, and the method is simple and reliable relative to various application layer time synchronization protocols. And, instead of using another digital camera To capture the video, or directly reading the output of the video processing device, directly reading the display device buffer data, thereby obtaining the true G-To-G delay data of the video.
In the embodiment of the invention, the video delay real-time measurement system for remote driving comprises a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center; the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device; the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; calculating the difference value between the first count value and the second count value to obtain a time delay measurement value; therefore, the invention carries out time synchronization by adding the crystal oscillator into the GPS second pulse signal, improves the reliability of delay test, directly reads the data of the buffer area of the display equipment, and can improve the accuracy of the delay test, thereby realizing the real-time, long-term and reliable high-precision G-To-G delay test.
Referring to fig. 3, fig. 3 is a flowchart of a video delay real-time measurement method for remote driving according to an embodiment of the present invention. It should be noted that embodiments of the present invention may be applied to any scenario where applicable. The video delay real-time measurement method for remote driving, which is provided by an embodiment of the invention shown in fig. 3, is applied to a vehicle-side device, and comprises the following steps:
step S301, triggering and collecting real-time traffic video stream through a GPS second pulse signal and a crystal oscillator signal;
step S302, transmitting the real-time traffic video stream to the remote control device, so that the remote control device calculates a time delay measurement value based on a first count value obtained when the real-time traffic video stream is obtained by reading the buffer data of the display device and a second count value obtained by analyzing the counter panel in the real-time traffic video stream.
In this embodiment, the executing body may be a vehicle-end device, and the vehicle-end device may trigger to collect the real-time traffic video stream through the GPS second pulse signal and the crystal oscillator signal. The real-time traffic video stream may carry a second count value. And then, transmitting the real-time traffic video stream to a remote control device. The remote control device can obtain a first count value when the real-time traffic video stream is read based on the buffer data of the display equipment, and then calculate a difference value between the first count value and the second count value to obtain a time delay measurement value.
As an optional implementation manner, the triggering and collecting the real-time traffic video stream through the GPS pulse-per-second signal and the crystal oscillator signal includes:
generating the crystal oscillator signal corresponding to the GPS second pulse signal based on the GPS second pulse signal;
responding to the crystal oscillator signal to count, and controlling the counter panel to display the count value;
performing frequency division processing on the crystal oscillator signal, and outputting a video acquisition instruction so that video acquisition equipment responds to the video acquisition instruction to acquire the real-time traffic video stream;
and responding to the video acquisition instruction, and locking the current count value of the counter panel to serve as the second count value.
In this embodiment, the structure of the vehicle-end device is referred to the above description, and will not be described in detail herein. Specifically, the vehicle-end device can send the GPS second pulse signal into the crystal oscillator based on the GPS second pulse signal, generate the crystal oscillator signal and calibrate the output frequency of the crystal oscillator. And, the output frequency of the crystal oscillator can be set to 1000Hz to achieve a test accuracy of 1ms. The crystal oscillator signal output by the crystal oscillator can be sent to a counter, so that the counter responds to the crystal oscillator signal to perform technology, and the counter panel is controlled to display the count value. Meanwhile, the crystal oscillator signal can be simultaneously sent into the frequency divider for frequency division processing, the output of the frequency divider can be used for triggering the acquisition of the video acquisition equipment, and the signal is simultaneously used for locking the display panel of the trigger counter to refresh so as to prevent the image from being shot out of the fuzzy counter.
In the embodiment of the invention, the video delay real-time measurement system for remote driving comprises a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center; the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device; the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; calculating the difference value between the first count value and the second count value to obtain a time delay measurement value; therefore, the invention carries out time synchronization by adding the crystal oscillator into the GPS second pulse signal, improves the reliability of delay test, directly reads the data of the buffer area of the display equipment, and can improve the accuracy of the delay test, thereby realizing the real-time, long-term and reliable high-precision G-To-G delay test.
Referring now to fig. 4, fig. 4 is a flowchart illustrating another video delay real-time measurement method for remote driving according to an embodiment of the present invention. It should be noted that embodiments of the present invention may be applied to any scenario where applicable. The embodiment of the invention shown in fig. 4 provides a video delay real-time measurement method for remote driving, which is applied to a remote control device and comprises the following steps:
step S401, reading buffer area data of display equipment, obtaining the real-time traffic video stream, and recording a first count value;
step S402, analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value;
step S403, calculating a difference between the first count value and the second count value to obtain a time delay measurement value.
In the present embodiment, the execution subject is a remote control device. The structure of the remote control device is described with reference to the above description, and will not be repeated here.
And the execution subject can directly read the buffer data of the display device from the buffer of the video display device to obtain the real-time traffic video stream. The value of the counter at the remote control side is recorded at the same time and is recorded as a first count value T1, namely, the moment when the display device outputs the current video, namely, the moment when the video is output, which is observed by eyes of an operator (the refresh frequency of the display device is used to be larger than the frame rate of the video, for example, the refresh frequency of the display device is 120Hz, and the frame rate of the video is 50 Hz). Then, the executing body can analyze the count value on the counter panel in the video stream by using the visual recognition technology, and record the count value as a second count value T0, and the difference between T1 and T0 is the G-To-G delay of the video.
As an alternative embodiment, the method further comprises:
receiving an optical signal transmitted by an optical fiber;
converting the optical signal into an electrical pulse signal;
based on the electrical pulse signal, a current timestamp is determined.
In this embodiment, since the remote driving centers are all disposed indoors and cannot directly receive satellite signals, the second pulse signals are first converted into optical signals by one photoelectric converter, then transmitted into the room through the optical fiber, and then converted into electrical pulse signals by one photoelectric converter, and then sent into the crystal oscillator for calibrating the output frequency of the crystal oscillator periodically.
As an optional implementation manner, the reading the buffer data of the display device, obtaining the real-time traffic video stream, and recording a first count value includes:
and reading the buffer data of the display device from the video display device to obtain the real-time traffic video stream, and determining the current timestamp at the moment as the first count value.
In the present embodiment, the first count value is a time at which the display device outputs the current video, that is, a video output time observed by the eyes of the operator.
In the embodiment of the invention, the video delay real-time measurement system for remote driving comprises a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center; the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device; the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; calculating the difference value between the first count value and the second count value to obtain a time delay measurement value; therefore, the invention carries out time synchronization by adding the crystal oscillator into the GPS second pulse signal, improves the reliability of delay test, directly reads the data of the buffer area of the display equipment, and can improve the accuracy of the delay test, thereby realizing the real-time, long-term and reliable high-precision G-To-G delay test.
In the description of the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be 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.
Furthermore, although the operations of the methods of the present invention are depicted in the drawings in a particular order, this is not required to either imply that the operations must be performed in that particular order or that all of the illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
Claims (10)
1. The video delay real-time measurement system for remote driving is characterized by comprising a vehicle end device and a remote control device; the vehicle end device is arranged at the intelligent network vehicle connecting end, and the remote control device is arranged at an indoor remote driving center;
the vehicle-end device is used for triggering and collecting real-time traffic video streams through GPS second pulse signals and crystal oscillator signals and transmitting the real-time traffic video streams to the remote control device;
the remote control device is used for reading the buffer zone data of the display equipment, obtaining the real-time traffic video stream and recording a first count value; analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value; and calculating a difference value between the first count value and the second count value to obtain a time delay measurement value.
2. The video delay real-time measurement system for remote driving of claim 1, wherein the vehicle end device comprises a first GPS receiver with a second pulse output, a first crystal oscillator, a frequency divider, a first counter, and a counter display panel;
the first GPS receiver is used for generating the GPS second pulse signal and sending the GPS second pulse signal to the first crystal oscillator so as to calibrate the output frequency of the first crystal oscillator; wherein one of said GPS pulse-per-second signals is generated;
the first crystal oscillator is used for receiving the GPS second pulse signal and outputting the crystal oscillator signal corresponding to the GPS second pulse signal to the first counter and the frequency divider;
the first counter is used for responding to the crystal oscillator signal to count and controlling the counter display panel to display the count value;
the frequency divider is used for carrying out frequency division processing on the crystal oscillator signal and outputting a video acquisition instruction so that video acquisition equipment responds to the video acquisition instruction to acquire the real-time traffic video stream;
the first counter is further used for responding to the video acquisition instruction and locking the current count value of the counter display panel.
3. The video delay real-time measurement system for remote driving according to claim 2, wherein the remote control device comprises a second GPS receiver with a second pulse output, a first photoelectric converter, a second oscillator, a second counter, a display buffer reading module, and a video delay calculation and output unit;
the second GPS receiver is used for generating a second pulse signal every second and inputting the second pulse signal into the first photoelectric converter;
the first photoelectric converter is used for converting the second pulse signal into an optical signal so as to transmit the optical signal to the second photoelectric converter arranged in a room through an optical fiber;
the second photoelectric converter is used for converting the optical signal into an electric pulse signal and sending the electric pulse signal into the second oscillator;
the second oscillator is used for receiving the electric pulse signal and outputting a signal to the second counter so that the second counter can determine the current time stamp;
the display buffer reading module is used for reading the buffer data of the display device from the video display device to obtain the real-time traffic video stream, and determining the current timestamp of the second counter as the first count value;
the video delay calculating and outputting unit is used for analyzing the count value on the counter panel in the real-time traffic video stream to obtain the second count value; and calculating the difference between the first count value and the second count value to obtain the time delay measurement value.
4. A video time delay real time measurement system for remote driving as defined in claim 3, wherein the output frequencies of said first and second oscillators are the same.
5. The video delay real-time measurement system for remote driving of claim 4, wherein the output frequency is 1000 hz.
6. The video delay real-time measurement method for remote driving is characterized by being applied to a vehicle-end device and comprising the following steps of:
triggering and collecting real-time traffic video stream through the GPS second pulse signal and the crystal oscillator signal;
and transmitting the real-time traffic video stream to the remote control device so that the remote control device calculates a time delay measurement value based on a first count value obtained when the real-time traffic video stream is obtained by reading the buffer data of the display device and a second count value obtained by analyzing a counter panel in the real-time traffic video stream.
7. The method for measuring video delay time for remote driving according to claim 6, wherein the triggering of the acquisition of the real-time traffic video stream by the GPS second pulse signal and the crystal oscillator signal comprises:
generating the crystal oscillator signal corresponding to the GPS second pulse signal based on the GPS second pulse signal;
responding to the crystal oscillator signal to count, and controlling the counter panel to display the count value;
performing frequency division processing on the crystal oscillator signal, and outputting a video acquisition instruction so that video acquisition equipment responds to the video acquisition instruction to acquire the real-time traffic video stream;
and responding to the video acquisition instruction, and locking the current count value of the counter panel to serve as the second count value.
8. A video delay real-time measurement method for remote driving, which is applied to a remote control device and comprises the following steps:
reading buffer zone data of display equipment to obtain the real-time traffic video stream, and recording a first count value;
analyzing the count value on the counter panel in the real-time traffic video stream to obtain a second count value;
and calculating the difference value between the first count value and the second count value to obtain a time delay measurement value.
9. The method for video delay real-time measurement for remote driving of claim 8, further comprising:
receiving an optical signal transmitted by an optical fiber;
converting the optical signal into an electrical pulse signal;
based on the electrical pulse signal, a current timestamp is determined.
10. The method for measuring video delay time for remote driving according to claim 9, wherein the reading the buffer data of the display device, obtaining the real-time traffic video stream, and recording a first count value, comprises:
and reading the buffer data of the display device from the video display device to obtain the real-time traffic video stream, and determining the current timestamp at the moment as the first count value.
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| CN101022373A (en) * | 2007-03-01 | 2007-08-22 | 华为技术有限公司 | System, method and apparatus for testing long-distance frame time delay |
| CN111787312A (en) * | 2020-07-29 | 2020-10-16 | 杭州叙简科技股份有限公司 | Video delay test method, system, electronic equipment and storage medium |
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