CN116708881A - Parallel driving system, video processing method and device, electronic equipment and medium - Google Patents

Parallel driving system, video processing method and device, electronic equipment and medium Download PDF

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Publication number
CN116708881A
CN116708881A CN202310039234.6A CN202310039234A CN116708881A CN 116708881 A CN116708881 A CN 116708881A CN 202310039234 A CN202310039234 A CN 202310039234A CN 116708881 A CN116708881 A CN 116708881A
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China
Prior art keywords
parallel driving
video
driving vehicle
plug flow
push
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Pending
Application number
CN202310039234.6A
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Chinese (zh)
Inventor
冯旭勃
万如
吕正
李春雷
吴雷
杨勇
贺伟伟
郑旭
时中贺
邓小超
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Zhidao Network Technology Beijing Co Ltd
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Zhidao Network Technology Beijing Co Ltd
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Priority to CN202310039234.6A priority Critical patent/CN116708881A/en
Publication of CN116708881A publication Critical patent/CN116708881A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/239—Interfacing the upstream path of the transmission network, e.g. prioritizing client content requests
    • H04N21/2393—Interfacing the upstream path of the transmission network, e.g. prioritizing client content requests involving handling client requests
    • 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]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/25—Management operations performed by the server for facilitating the content distribution or administrating data related to end-users or client devices, e.g. end-user or client device authentication, learning user preferences for recommending movies
    • H04N21/262—Content or additional data distribution scheduling, e.g. sending additional data at off-peak times, updating software modules, calculating the carousel transmission frequency, delaying a video stream transmission, generating play-lists
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/41—Structure of client; Structure of client peripherals
    • H04N21/414—Specialised client platforms, e.g. receiver in car or embedded in a mobile appliance
    • H04N21/41422—Specialised client platforms, e.g. receiver in car or embedded in a mobile appliance located in transportation means, e.g. personal vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/437—Interfacing the upstream path of the transmission network, e.g. for transmitting client requests to a VOD server

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Databases & Information Systems (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The application discloses a parallel driving system, a video processing method, a device, electronic equipment and a medium. The method performed by parallel driving vehicles includes: obtaining a plug flow control instruction issued by a management server; determining whether the parallel driving vehicle needs video plug flow or not according to the plug flow control instruction; if so, starting a video push program and carrying out video push; if not, closing the video push program. The method executed by the management server comprises the following steps: receiving a request sent by a remote cockpit; acquiring an expected plug flow state of a target parallel driving vehicle according to a request sent by a remote cockpit, and acquiring a current plug flow state of the target parallel driving vehicle; and generating a plug flow control instruction according to the expected plug flow state and the current plug flow state and sending the plug flow control instruction to a target parallel driving vehicle. The technical scheme of the application is that a management server coordinates the video plug flow process of the parallel driving system, so that the plug flow according to the need is realized, and the calculation resources and the network resources of the vehicle end domain controller are saved.

Description

Parallel driving system, video processing method and device, electronic equipment and medium
Technical Field
The present application relates to the field of parallel driving technologies, and in particular, to a parallel driving system, a video processing method, a video processing device, an electronic apparatus, and a medium.
Background
In the parallel driving system, the real-time video stream is the main input information for assisting the remote driving, the video stream collected by the vehicle-end camera is pushed to the management server video stream service through the 5G network by the video stream pushing program of the parallel driving vehicle, and in the link, the running of the vehicle-end stream pushing program occupies a large amount of computing resources and network resources of the vehicle-end domain controller, wherein the computing resources comprise a CPU (Central processing Unit), a GPU (graphics processing Unit) and the like, and the network resources comprise network bandwidth, network traffic and the like.
The computing resources are precious for the running of the vehicle-end automatic driving program, and the occupation of the network resources can generate direct economic cost, so that the saving of the computing resources and the network resources is important. In addition, the uploading of the video stream at the vehicle end needs to occupy a large amount of bandwidth, which may affect the transmission of the state monitoring data and the control command data, and at this time, it is also important to ensure the transmission of the state monitoring data and the control command data by reducing the vehicle end resources occupied by the video stream.
Disclosure of Invention
Based on the above problems existing in the prior art, the embodiment of the application provides a parallel driving system, a video processing method, a device, an electronic device and a medium, so as to reduce the occupation of vehicle-end computing resources and network resources by the parallel driving system.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a video processing method of a parallel driving system, which is performed by a parallel driving vehicle, the method including:
obtaining a plug flow control instruction issued by a management server;
determining whether the parallel driving vehicle needs video plug flow or not according to the plug flow control instruction;
if the video pushing is needed, starting a video pushing program and controlling the video pushing program to conduct video pushing;
and if the video push is not needed, closing the video push program.
Optionally, the determining whether the parallel driving vehicle needs to perform video plug flow according to the plug flow control instruction includes:
analyzing the push control instruction to obtain a push state identifier carried by the push control instruction, wherein the push state identifier is used for indicating a video push state or a non-video push state;
Determining whether the parallel driving vehicle needs video streaming or not according to the streaming status identifier;
when the push state identifier indicates a video push state, determining that the parallel driving vehicle needs to carry out video push; when the push state identifier indicates a non-video push state, it is determined that video push is not required for the parallel driving vehicle.
In a second aspect, an embodiment of the present application further provides a video processing method of a parallel driving system, performed by a management server, the method including:
receiving a request sent by a remote cockpit, wherein the request indicates to carry out video streaming on a target parallel driving vehicle or close the video streaming on the target parallel driving vehicle;
acquiring an expected plug flow state of the remote cockpit to the target parallel driving vehicle and a current plug flow state of the target parallel driving vehicle according to the request;
and generating a plug flow control instruction according to the expected plug flow state and the current plug flow state of the target parallel driving vehicle, and sending the plug flow control instruction to the target parallel driving vehicle.
Optionally, the management server builds a video stream configuration file in advance, where the video stream configuration file is used to manage a plug-flow state identifier of each parallel driving vehicle, and obtain a current plug-flow state of the target parallel driving vehicle, and the method includes:
Obtaining a plug-flow state identifier of the target parallel driving vehicle in the video stream configuration file;
and acquiring the current plug flow state of the target parallel driving vehicle according to the plug flow state identifier of the target parallel driving vehicle.
Optionally, the generating a push control instruction according to the expected push state and the current push state of the target parallel driving vehicle and sending the push control instruction to the target parallel driving vehicle includes:
comparing whether the expected plug flow state and the current plug flow state of the target parallel driving vehicle are the same or not;
if the current state identifiers are different, updating the current state identifiers of the target parallel driving vehicles in the video stream configuration file, generating the current control instruction according to the updated current state identifiers, and sending the current control instruction to the target parallel driving vehicles;
if the two types of control commands are the same, no push control command is generated.
Optionally, the method further comprises:
obtaining the type of the request, wherein the type of the request comprises a video streaming request of a first remote cockpit to a first parallel driving vehicle and a video streaming closing request of a second remote cockpit to a second parallel driving vehicle;
when the request is the video streaming request, streaming video of the first parallel driving vehicle is also forwarded to the first remote cockpit;
And when the request is the video streaming closing request, determining a target remote cockpit for video streaming of the second parallel driving vehicle, and controlling the video streaming of the second parallel driving vehicle according to the target remote cockpit for video streaming of the second parallel driving vehicle.
Optionally, the video stream configuration file is further used for managing a binding relationship between the parallel driving vehicle and the remote cockpit, and the method includes:
when the request is the video streaming request, generating a binding relation between the first parallel driving vehicle and the first remote cockpit according to the video streaming request, recording the binding relation between the first parallel driving vehicle and the first remote cockpit into the video streaming configuration file, and forwarding streaming video of the first parallel driving vehicle to the first remote cockpit according to the binding relation in the video streaming configuration file;
when the request is the video streaming closing request, acquiring a target remote cockpit having a binding relation with the second parallel driving vehicle according to the video streaming configuration file, and deleting the binding relation between the second remote cockpit and the second parallel driving vehicle in the video streaming configuration file if the target remote cockpit further comprises the second remote cockpit and other remote cabins; if the target remote cockpit only comprises the second remote cockpit, updating a plug flow state identifier of a second parallel driving vehicle in the video stream configuration file, updating the updated plug flow state identifier to generate the plug flow control instruction, and deleting a binding relation between the second remote cockpit and the second parallel driving vehicle in the video stream configuration file after the plug flow control instruction is sent to the second parallel driving vehicle.
Optionally, the method further comprises:
receiving a plug flow state identifier acquisition request of a third parallel driving vehicle;
and acquiring a plug flow state identifier of the third parallel driving vehicle from the video stream configuration file, generating a plug flow control instruction according to the plug flow state identifier of the third parallel driving vehicle, and issuing the plug flow control instruction to the third parallel driving vehicle.
In a third aspect, an embodiment of the present application provides a video processing device of a parallel driving system, applied to a parallel driving vehicle, the device including:
the first receiving unit is used for acquiring a plug flow control instruction issued by the management server;
the state judging unit is used for determining whether the parallel driving vehicle needs video plug flow or not according to the plug flow control instruction;
the video streaming control unit is used for starting a video streaming program and controlling the video streaming program to perform video streaming if the video streaming is required; and if the video push is not needed, closing the video push program.
In a fourth aspect, an embodiment of the present application further provides a video processing device of a parallel driving system, applied to a management server, where the device includes:
The second receiving unit is used for receiving a request sent by the remote cockpit, wherein the request is used for indicating to carry out video streaming on the target parallel driving vehicle or closing the video streaming on the target parallel driving vehicle;
the state acquisition unit is used for acquiring the expected plug flow state of the remote cockpit to the target parallel driving vehicle and the current plug flow state of the target parallel driving vehicle according to the request;
and the video stream management unit is used for generating a plug flow control instruction according to the expected plug flow state and the current plug flow state of the target parallel driving vehicle and sending the plug flow control instruction to the target parallel driving vehicle.
In a fifth aspect, embodiments of the present application also provide a parallel driving system including one or more remote cabs, one or more parallel driving vehicles, and a management server.
In a sixth aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a video processing method of a parallel driving system.
In a seventh aspect, embodiments of the present application also provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to perform a video processing method of a parallel driving system.
The above at least one technical scheme adopted by the embodiment of the application can achieve the following beneficial effects: the parallel driving vehicle firstly acquires the push control instruction issued by the management server, then judges whether the parallel driving vehicle needs to carry out video push according to the push control instruction, and if so, starts and controls a video push program to carry out video push; if the video push is not needed, the video push program is closed, and only the video push control program runs at the moment, the network resources occupied by the video push control program are very few, can be basically ignored, and the consumption of computing resources is very small.
In addition, according to the request sent by the remote cockpit, the management server determines the expected plug flow state and the current plug flow state of the target parallel driving vehicle, generates a plug flow control instruction according to the two state information of the target parallel driving vehicle, and controls the plug flow state of the target parallel driving vehicle based on the plug flow control instruction. According to the embodiment of the application, the video plug flow process of the parallel driving system is comprehensively managed through the management server, the video plug flow can be controlled as required, and the computing resources and the network resources of the vehicle end domain controller are effectively saved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a video plug flow of a parallel driving system according to the prior art;
FIG. 2 is a flow chart of a video processing method of a parallel driving system according to an embodiment of the present application;
FIG. 3 is a flow chart of a video processing method of another parallel driving system according to an embodiment of the present application;
fig. 4 is a schematic diagram of an interaction flow of video push by the parallel driving system according to the embodiment of the present application;
fig. 5 is a schematic diagram of an interaction flow of a parallel driving system closing video push flow in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a video processing device of a parallel driving system according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a video processing device of another parallel driving system according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a parallel driving system according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Before describing the embodiments of the present application, a brief description of a parallel driving system is provided to facilitate understanding of the embodiments of the present application.
Parallel driving is a kind of remote control, and parallel driving refers to a vehicle running on a road, and environmental data around the vehicle is collected through a vehicle end and sent to a remote cockpit through a wireless network in a video stream mode, and the remote cockpit controls a controlled vehicle through a simulator such as a simulated steering wheel according to the returned video stream to perform a series of remote controls such as acceleration, deceleration and turning on the vehicle.
In parallel driving scenarios, the remote cockpit generally requires four or more real-time video streams to assist the remote cockpit in visually viewing real-time driving environment information around the parallel driving vehicle. As shown in fig. 1, in the prior art, a video streaming program of a parallel driving vehicle pushes a video stream collected by a vehicle-end camera to a management server video streaming service through a 5G network, and because the parallel driving program is operated in a domain controller, in a parallel driving scenario, the video streaming process consumes a large amount of computing resources and network resources of the vehicle-end domain controller, and the consumed resources may affect the domain controller, especially the automatic driving vehicle with an automatic driving program having a high requirement, thereby affecting driving safety, and the consumption of the network resources also generates high operation cost, which is unfavorable for market competition.
Aiming at the problems, the embodiment of the application provides a parallel driving system, a video processing method and a video processing device thereof, wherein the parallel driving system controls video plug flow according to needs, reduces unnecessary waste of network resources, and not only closes the video plug flow process but also simultaneously closes the video plug flow program when closing the video plug flow, thereby saving vehicle-end computing resources.
As shown in fig. 8, in the embodiment of the present application, the parallel driving system includes a remote cockpit, a management server, and parallel driving vehicles, unlike the prior art, the management server of the present application controls the video push of the parallel driving vehicles according to the video pull demand of the remote cockpit, and controls whether to forward the push video of the parallel driving vehicles to the remote cockpit according to the video pull demand. The parallel driving vehicles control the video plug flow program of the own vehicle according to the plug flow control instruction issued by the management server. The video processing method regarding the management server and the parallel driving vehicle will be described in detail by the following related embodiments.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
The main execution body of the video processing method of the parallel driving system provided by the embodiment of the application is a parallel driving vehicle, such as a vehicle end domain controller or a video plug flow control program running in the vehicle end domain controller. The execution subject of the method of the embodiment of the application can be software or hardware. Referring to fig. 2, fig. 2 is an illustration of a video processing method of a parallel driving system provided by an embodiment of the present application, taking an execution subject as a parallel driving vehicle. As shown in fig. 2, the video processing method of the parallel driving system provided by the embodiment of the application may include the following steps S210 to S240:
Step S210, a plug flow control instruction issued by a management server is obtained.
Unlike the prior art, the parallel driving vehicle of the embodiment of the application needs to acquire the push control instruction from the management server, and the push control instruction indicates whether the own vehicle should perform video push. Therefore, the parallel driving vehicle can judge whether the vehicle needs to perform video plug flow according to the obtained plug flow control instruction.
The video push of the application refers to a process of transmitting the collected video stream data to the management server, and the video pull refers to a process of pulling push video of the vehicle end to the management server. In a parallel driving scene, video stream data acquired by a camera are transmitted to a management server, and then the video stream data are forwarded to a remote cockpit by the management server for video playing.
Step S220, determining whether the parallel driving vehicle needs to perform video streaming according to the streaming control instruction.
Step S230, if the video streaming is required, a video streaming program is started and controlled to perform video streaming.
Step S240, if the video push is not needed, closing the video push program.
When the parallel driving vehicles determine that the own vehicle needs to carry out video streaming according to the streaming control instruction, a video streaming program is started first, and then the video streaming program is controlled to carry out video streaming. When the video push control program determines that the own vehicle does not need to carry out video push according to the push control instruction, the video push control program can close the video push program, for example, the video push flow of the video push program is stopped first, and then the video push program is closed.
As can be seen from the video processing method of the parallel driving system shown in fig. 2, in this embodiment, the push control instruction issued by the management server is first obtained, then, whether the parallel driving vehicle needs to perform video push is determined according to the push control instruction, if so, the video push program is started and controlled to perform video push, and if not, the video push program is closed, and only the video push control program is operated at this time, the network resources occupied by the video push control program are very small, basically negligible, and the consumption of computing resources is very small. Therefore, the embodiment can remarkably save the computing resources and the network resources of the vehicle end domain controller by controlling the video push stream according to the requirement.
In some embodiments of the present application, the determining whether the parallel driving vehicle needs video plug flow according to the plug flow control instruction includes:
analyzing the push control command to obtain a push state identifier carried by the push control command, and determining whether the parallel driving vehicle needs video push or not according to the push state identifier.
The push state identifier is used for indicating a video push state or a non-video push state, for example, the push state identifier comprises a first value and a second value, the first value indicates the video push state, the second value indicates the non-video push state, and the first value and the second value can be preset character strings, number sequences, specific numbers or the like.
At this time, determining whether the parallel driving vehicle needs to perform video streaming according to the streaming status identifier issued by the management server includes:
when the push state identifier indicates a video push state, determining that the parallel driving vehicle needs to carry out video push;
when the push state identifier indicates a non-video push state, it is determined that video push is not required for the parallel driving vehicle.
For example, the video plug flow control program analyzes a plug flow control instruction acquired by a vehicle to obtain a plug flow state identifier, if the analyzed plug flow state identifier is a first numerical value, the video plug flow control program determines that the parallel driving vehicle needs to perform video plug flow, and at the moment, the video plug flow program is started and video plug flow is performed; if the analyzed plug flow state identifier is the second value, determining that the parallel driving vehicle does not need to carry out video plug flow, closing the video plug flow program at the moment, and only running the video plug flow control program.
In some embodiments of the present application, a request for obtaining a push state identifier may be sent to a management server according to a preset policy, and the push state identifier may be obtained according to a reply message of the management server to the request for obtaining the push state identifier. The preset policy may include a sending time of the push state identifier obtaining request, where the sending time is, for example, when the video push control program is started, when the video push control program is initialized, or when the parallel driving vehicle is disconnected from the management server, or sending according to a preset time frequency.
The embodiment of the application also provides a video processing method of the parallel driving system, wherein an execution subject of the video processing method of the parallel driving system is a management server, and the management server can be an intercommunication server or a background server among a plurality of heterogeneous systems, can be an independent physical server, can also be a server cluster or a distributed system formed by a plurality of physical servers, and can also be a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, basic cloud computing services such as big data and an artificial intelligent platform, and the like.
Different from a management server in the prior art, the management server in the embodiment of the application determines the target parallel driving vehicles needing video streaming based on the request of the remote cockpit, and issues video streaming instructions to the target parallel driving vehicles, so that each target parallel driving vehicle starts a video streaming program and carries out video streaming based on the received video streaming instructions of the own vehicle; the management server forwards the push video of the target parallel driving vehicle to the remote cockpit with video streaming requirements based on the request of the remote cockpit.
Referring to fig. 3, fig. 3 is an illustration of a video processing method of a parallel driving system provided by an embodiment of the present application, taking an execution subject as a management server. As shown in fig. 3, a video processing method of a parallel driving system provided by an embodiment of the present application may include the following steps S310 and S330:
in step S310, a request sent by the remote cockpit is received, where the request indicates video streaming to the target parallel driving vehicle or video streaming to the target parallel driving vehicle is turned off.
The remote cockpit is provided with a cockpit client, and the remote cockpit sends a request to the management server through the cockpit client, wherein the request sent by the remote cockpit is used for indicating to carry out video streaming on the target parallel driving vehicle or closing video streaming on the target parallel driving vehicle, and the request comprises a video streaming request of the first remote cockpit on the first parallel driving vehicle and/or a video streaming closing request of the second remote cockpit on the second parallel driving vehicle and the like.
Since the request includes the remote cockpit with the video streaming requirement and the corresponding parallel driving vehicles, the management server can perform real-time video streaming service based on the request.
Step S320, obtaining, according to the request, an expected plug flow state of the remote cockpit to the target parallel driving vehicle, and a current plug flow state of the target parallel driving vehicle.
As can be seen from step S310, the request received by the management server indicates the requirement of the remote cockpit, for example, when the request is a video streaming request, the remote cockpit is configured to acquire a streaming video of the corresponding parallel driving vehicle, and at this time, the desired state of the target parallel driving vehicle corresponding to the request can be acquired as a video streaming state according to the request; for another example, when the request is a video streaming closing request, the remote cockpit is configured to close a streaming video of the corresponding parallel driving vehicle, and at this time, the desired state of the target parallel driving vehicle corresponding to the request can be acquired as a non-video streaming state according to the request. Therefore, the application can obtain the expected plug flow state of the remote cockpit to the target parallel driving vehicle according to the received request.
In addition, the management server manages the current push state of all the parallel driving vehicles, for example, the current push state of the parallel driving vehicles is represented according to the push state identifier, so that the current push state of the parallel driving vehicles can be obtained according to the push state identifier corresponding to the target parallel driving vehicles.
And step S330, according to the expected plug flow state and the current plug flow state of the target parallel driving vehicle, a plug flow control instruction is generated and sent to the target parallel driving vehicle.
When the request is received, the application needs to judge whether the current plug-flow state of the target parallel driving vehicle is the same as the expected plug-flow state, when the current plug-flow state and the expected plug-flow state are the same, the management server does not need to send a plug-flow control instruction to the parallel driving vehicle, when the current plug-flow state and the expected plug-flow state are different, the management server generates the plug-flow control instruction and sends the plug-flow control instruction to the parallel driving vehicle, so that the video plug-flow control program of the parallel driving vehicle is controlled to be in the expected plug-flow state.
As can be seen from the video processing method of the parallel driving system shown in fig. 3, when the management server of the embodiment receives the request of the remote cockpit, the desired plug flow state and the current plug flow state of the target parallel driving vehicle can be determined according to the request, so as to generate a plug flow control instruction according to the two state information of the target parallel driving vehicle, and control the plug flow state of the target parallel driving vehicle based on the plug flow control instruction. Therefore, the management server of the embodiment can control the video push flow of the parallel driving system as required, and save the computing resource and the network resource of the vehicle end domain controller.
In some embodiments of the present application, the management server pre-constructs a video stream profile, where the video stream profile may be stored locally at the management server, or may be stored in another database in which the management server has a communication connection, where the video stream profile is used to manage a push state identifier of each parallel driving vehicle, and a binding relationship between the parallel driving vehicle and a remote cockpit, where the push state identifier is used to indicate a video push state or a non-video push state, and the binding relationship between the parallel driving vehicle and the remote cockpit is used to assist the management server in correctly forwarding the push video based on the binding relationship.
In the initial state, the initial value of the push state identifier of each parallel driving vehicle in the video stream configuration file is a second numerical value, and the non-video push state is indicated; when the remote cockpit needs to acquire a plug flow video of a certain parallel driving vehicle, updating a plug flow state identifier of the video flow configuration file into a first value, wherein the first value of the plug flow state identifier indicates the video plug flow state; when the remote cockpit needs to close the plug flow video of a certain parallel driving vehicle, the plug flow state identifier of the parallel driving vehicle is updated to a second value by the video flow configuration file, and the second value of the plug flow state identifier indicates a non-video plug flow state.
In an initial state, no binding relation between any parallel driving vehicle and any remote cockpit is recorded in the video stream configuration file, and when the remote cockpit needs to acquire a push stream video of a certain parallel driving vehicle, the binding relation between the remote cockpit and the parallel driving vehicle is recorded in the video stream configuration file; and when the remote cockpit needs to close the push video of a certain parallel driving vehicle, deleting the binding relation between the remote cockpit and the parallel driving vehicle in the video stream configuration file.
In some possible implementations of this embodiment, the step S320 of obtaining the current video plug-flow status of the target parallel driving vehicle includes:
acquiring a plug-flow state identifier of the target parallel driving vehicle in the video stream configuration file, for example, inquiring the video stream configuration file according to a vehicle identifier of the target parallel driving vehicle carried in a request to obtain the plug-flow state identifier corresponding to the vehicle identifier;
the current plug-flow state of the target parallel driving vehicle is obtained according to the plug-flow state identifier of the target parallel driving vehicle, and the field value corresponding to the plug-flow state identifier in the embodiment comprises a first value and a second value, wherein the first value indicates the video plug-flow state, and the second value indicates the non-video plug-flow state, and the first value and the second value can be preset character strings, number sequences, specific numbers or the like, so that the current plug-flow state of the target parallel driving vehicle can be obtained according to the plug-flow state identifier.
When the expected push state and the current push state of the target parallel driving vehicle are obtained, comparing whether the expected push state and the current push state of the target parallel driving vehicle are the same, if not, updating a push state identifier of the target parallel driving vehicle in the video stream configuration file, generating a push control instruction according to the updated push state identifier, and sending the push control instruction to the target parallel driving vehicle, wherein the target parallel driving vehicle receives the push control instruction at this time, and correspondingly controlling a video push program according to the video processing method of the embodiment shown in fig. 2. If the expected push state of the target parallel driving vehicle is the same as the current push state, a push control instruction is not generated, and a push state identifier of the target parallel driving vehicle in the video stream configuration file does not need to be updated.
It should be noted that, after receiving the request of the remote cockpit, the management server performs the above-mentioned plug flow control on the target parallel cockpit vehicle based on the request, and then further performs the following steps:
obtaining the type of the request, wherein the type of the request comprises a video streaming request of a first remote cockpit to a first parallel driving vehicle and a video streaming closing request of a second remote cockpit to a second parallel driving vehicle;
When the request is the video streaming request, streaming video of the first parallel driving vehicle is also forwarded to the first remote cockpit, for example, streaming video of the first parallel driving vehicle is forwarded to the first remote cockpit according to a video streaming request or according to a binding relationship in a video streaming configuration file;
and when the request is the video streaming closing request, determining a target remote cockpit for video streaming of the second parallel driving vehicle, and controlling the video streaming of the second parallel driving vehicle according to the target remote cockpit for video streaming of the second parallel driving vehicle.
Next, the steps performed by the management server based on the video pull request and the video pull close request will be described in detail with reference to the flowcharts shown in fig. 4 and 5.
When the request is the video streaming request, a binding relation between the first parallel driving vehicle and the first remote cockpit is generated according to the video streaming request, the binding relation between the first parallel driving vehicle and the first remote cockpit is recorded into the video streaming configuration file, and streaming video of the first parallel driving vehicle is forwarded to the first remote cockpit according to the binding relation in the video streaming configuration file.
Specifically, as shown in fig. 4, the remote driver logs in to the first remote cockpit through the cockpit client and selects the first parallel cockpit vehicle in the vehicle management list to observe the plug-flow video of the first parallel cockpit vehicle. The cockpit client side responds to the selection operation of the remote driver and generates a video streaming request, wherein the video streaming request carries first remote cockpit information and first parallel driving vehicle information.
The management server receives the video streaming request, judges whether the first parallel driving vehicle is in a video streaming state or not, and when judging that the first parallel driving vehicle is in a non-video streaming state, updates a streaming state identifier of the first parallel driving vehicle in the video streaming configuration file, generates a streaming control instruction according to the updated streaming state identifier and transmits the streaming control instruction to the first parallel driving vehicle so that the first parallel driving vehicle controls a video streaming program to perform video streaming based on the transmitted streaming control instruction, and generates a binding relation between the first remote cockpit and the first parallel driving vehicle and records the binding relation in the video streaming configuration file. When the management server receives the push video of the first parallel driving vehicle, the management server forwards the push video to the first remote cockpit according to the binding relation.
It should be noted that, the present application is not limited to the execution sequence of the binding relation record and the push control command, and in some possible embodiments, after receiving the video streaming request, the binding relation record may be recorded in the video streaming configuration file, and then the step of generating the push control command may be executed. Or, after generating the push control command, recording the binding relation.
When the management server judges that the first parallel driving vehicle is in the video plug flow state currently, a binding relation between the first remote cockpit and the first parallel driving vehicle is generated and recorded in a video stream configuration file, and the management server forwards the plug flow video to the first remote cockpit according to the binding relation.
It should be noted that, when the management server caches the video streaming request of the first remote cockpit, the streaming video of the first parallel driving vehicle may also be forwarded to the first remote cockpit according to the video streaming request of the first remote cockpit.
In an actual application scenario, the remote cockpit may also send a video pulling and closing request to the management server, where the management server needs to perform corresponding processing based on the video pulling and closing request.
In some embodiments of the present application, when the request is the video streaming close request, acquiring a target remote cockpit having a binding relationship with the second parallel driving vehicle according to the video streaming configuration file; if the target remote cockpit includes the second remote cockpit and other remote cabins, only deleting the binding relation between the second remote cockpit and the second parallel driving vehicle in the video stream configuration file, wherein the second parallel driving vehicle also needs to provide a push video for other remote cabins at this time, so that a push state identifier of the second parallel driving vehicle in the video stream configuration file does not need to be updated, and a push control instruction does not need to be generated. If the target remote cockpit only comprises the second remote cockpit, updating a plug flow state identifier of a second parallel driving vehicle in the video stream configuration file, generating the plug flow control instruction according to the updated plug flow state identifier, and deleting a binding relation between the second remote cockpit and the second parallel driving vehicle in the video stream configuration file after the plug flow control instruction is sent to the second parallel driving vehicle.
Specifically, as shown in fig. 5, the remote driver selects a second parallel cabin vehicle in the vehicle management list to cancel the push video of the second parallel cabin vehicle. And the cockpit client side responds to the selection operation of the remote driver and generates a video pulling and closing request, wherein the video pulling and closing request carries second remote cockpit information and second parallel driving vehicle information.
And the management server receives a video streaming closing request of a second remote cockpit for a second parallel driving vehicle, and determines the parallel driving vehicle with a binding relation with the second parallel driving vehicle from the video streaming configuration file.
That is, after receiving the video stream closing request, the management server needs to determine which remote cabins the second parallel driving vehicle performs video stream pushing on, and according to the foregoing related embodiments, it can be known that the binding relationship between the remote cabins and the parallel driving vehicles determines the remote cabins to which the video stream is forwarded, and according to the foregoing binding relationship in the video stream configuration file, it can be determined which remote cabins the second parallel driving vehicle provides the video stream. If the second parallel driving vehicle is judged to only provide the video stream for the second remote cockpit, the second parallel driving vehicle can be determined to not need to perform video plug-flow based on the video plug-flow closing request, and the second parallel driving vehicle is controlled to close the video plug-flow. If it is determined that the second parallel driving vehicle provides video streams for the second remote cockpit and video streams for other remote cabins, it may be determined that the second parallel driving vehicle still needs to perform video push at this time, in this case, the management server should only stop forwarding the push video of the second parallel driving vehicle to the second remote cockpit, and should not control the second parallel driving vehicle to close the video push.
Specifically, when only the second remote cockpit has a binding relationship with the second parallel driving vehicle, updating a plug flow state identifier of the second parallel driving vehicle in the video stream configuration file, generating a plug flow control instruction, and sending the plug flow control instruction to the second parallel driving vehicle, so that the second parallel driving vehicle closes a video plug flow program based on the updated plug flow state identifier carried by the plug flow control instruction, and deleting the binding relationship between the second remote cockpit and the second parallel driving vehicle in the video stream configuration file;
when other remote cabins have binding relations with the second parallel driving vehicle, only deleting the binding relations between the second remote cabin and the second parallel driving vehicle in the video stream configuration file, and not controlling the second parallel driving vehicle to close a video push program.
In some embodiments of the present application, the management server further receives a request for obtaining a push state identifier of the third parallel driving vehicle, and the management server obtains the push state identifier of the third parallel driving vehicle from the video stream configuration file and issues the push state identifier to the third parallel driving vehicle, where the issuing method includes, for example, sending the push state identifier of the third parallel driving vehicle to a preset data interface of the third parallel driving vehicle, or generating a reply message of the push state identifier obtaining request, and sending the reply message to the third parallel driving vehicle.
The embodiment of the application also provides a video processing device 600 of the parallel driving system, as shown in fig. 6, and provides a schematic structural diagram of the video processing device of the parallel driving system in the embodiment of the application, where the device 600 is applied to a parallel driving vehicle, and includes: a first receiving unit 610, a state judging unit 620, and a push control unit 630, wherein:
a first receiving unit 610, configured to obtain a push control instruction issued by the management server;
a state judging unit 620, configured to determine whether the parallel driving vehicle needs to perform video streaming according to the streaming control instruction;
the push control unit 630 is configured to start a video push program and control the video push program to perform video push if video push is required; and if the video push is not needed, closing the video push program.
In one embodiment of the present application, the state determining unit 620 is configured to parse the push control instruction to obtain a push state identifier carried by the push control instruction, where the push state identifier is used to indicate a video push state or a non-video push state; determining whether the parallel driving vehicle needs video streaming or not according to the streaming status identifier; when the push state identifier indicates a video push state, determining that the parallel driving vehicle needs to carry out video push; when the push state identifier indicates a non-video push state, it is determined that video push is not required for the parallel driving vehicle.
It can be understood that the video processing device applied to the parallel driving system in the parallel driving vehicle can implement the steps of the video processing method of the parallel driving system performed by the parallel driving vehicle provided in the foregoing embodiment, and the relevant explanation about the video processing method of the parallel driving system performed by the parallel driving vehicle is applicable to the video processing device applied to the parallel driving system of the parallel driving vehicle, which is not repeated herein.
The embodiment of the application also provides a video processing device 700 of the parallel driving system, as shown in fig. 7, and provides a schematic structural diagram of the video processing device of the parallel driving system in the embodiment of the application, where the device 700 is applied to a management server, and the device 700 includes: a second receiving unit 710, a state acquisition unit 720, and a video stream management unit 730, wherein:
a second receiving unit 710, configured to receive a request sent by the remote cockpit, where the request indicates to perform video streaming on the target parallel driving vehicle or close video streaming on the target parallel driving vehicle;
a state obtaining unit 720, configured to obtain, according to the request, an expected plug flow state of the remote cockpit to the target parallel driving vehicle, and a current plug flow state of the target parallel driving vehicle;
And the video stream management unit 730 is configured to generate a push control instruction according to the expected push state and the current push state of the target parallel driving vehicle, and send the push control instruction to the target parallel driving vehicle.
In one embodiment of the present application, the management server constructs a video stream configuration file in advance, where the video stream configuration file is used to manage the push state identifier of each parallel driving vehicle, and the state obtaining unit 720 is used to obtain the push state identifier of the target parallel driving vehicle in the video stream configuration file; and acquiring the current plug flow state of the target parallel driving vehicle according to the plug flow state identifier of the target parallel driving vehicle.
In one embodiment of the present application, the video stream management unit 730 is specifically configured to compare whether the expected plug-flow status and the current plug-flow status of the target parallel driving vehicle are the same; if the current state identifiers are different, updating the current state identifiers of the target parallel driving vehicles in the video stream configuration file, generating the current control instruction according to the updated current state identifiers, and sending the current control instruction to the target parallel driving vehicles; if the two types of control commands are the same, no push control command is generated.
In one embodiment of the present application, the second receiving unit 710 is configured to obtain a type of the request, where the type of the request includes a video streaming request from the first remote cockpit to the first parallel driving vehicle and a video streaming closing request from the second remote cockpit to the second parallel driving vehicle;
the video stream management unit 730 is further configured to, when the request is the video streaming request, further forward a streaming video of the first parallel driving vehicle to the first remote cockpit; and when the request is the video streaming closing request, determining a target remote cockpit for video streaming of the second parallel driving vehicle, and controlling the video streaming of the second parallel driving vehicle according to the target remote cockpit for video streaming of the second parallel driving vehicle.
In one embodiment of the present application, the video stream configuration file is further configured to manage a binding relationship between a parallel driving vehicle and a remote cockpit, and the video stream management unit 730 is further configured to, when the request is the video streaming request, generate a binding relationship between the first parallel driving vehicle and the first remote cockpit according to the video streaming request, record the binding relationship between the first parallel driving vehicle and the first remote cockpit into the video stream configuration file, and forward a streaming video of the first parallel driving vehicle to the first remote cockpit according to the binding relationship in the video stream configuration file; when the request is the video streaming closing request, acquiring a target remote cockpit having a binding relation with the second parallel driving vehicle according to the video streaming configuration file, and deleting the binding relation between the second remote cockpit and the second parallel driving vehicle in the video streaming configuration file if the target remote cockpit further comprises the second remote cockpit and other remote cabins; if the target remote cockpit only comprises the second remote cockpit, updating a plug flow state identifier of a second parallel driving vehicle in the video stream configuration file, generating the plug flow control instruction according to the updated plug flow state identifier, and deleting a binding relation between the second remote cockpit and the second parallel driving vehicle in the video stream configuration file after the plug flow control instruction is sent to the second parallel driving vehicle.
In one embodiment of the present application, the second receiving unit 710 is further configured to receive a push state identifier acquisition request of the third parallel driving vehicle;
the video stream management unit 730 is further configured to obtain a plug-in status identifier of the third parallel driving vehicle from the video stream configuration file and send the plug-in status identifier to the third parallel driving vehicle.
It can be understood that the video processing device applied to the parallel driving system of the management server can implement the steps of the video processing method of the parallel driving system performed by the management server provided in the foregoing embodiment, and the relevant explanation about the video processing method of the parallel driving system performed by the management server is applicable to the video processing device applied to the parallel driving system of the management server, which is not repeated herein.
The embodiment of the present application further provides a parallel driving system 800, as shown in fig. 8, and a schematic structural diagram of the parallel driving system in the embodiment of the present application is provided, where the parallel driving system 800 includes: one or N remote cabs 810, one or M parallel driving vehicles 820, and a management server 830, where N and M are natural numbers greater than 1;
Each remote cockpit 810 includes a video streaming device and video streaming program, where the video streaming device and video streaming program includes, for example, a cockpit client and a video player, and a remote driver generates a video streaming request or a video streaming close request for each remote cockpit to a corresponding parallel driving vehicle by operating the cockpit client.
Each parallel driving vehicle 820 includes a vehicle end domain controller, a camera group including, for example, four fisheye cameras disposed around the vehicle body, and a network device including, for example, a 5G terminal device. The video plug flow control program is executed in the vehicle end domain controller of each parallel driving vehicle, and the video plug flow control program is executed to execute the video processing method of the parallel driving system shown in fig. 2, that is, the video processing device 600 of the parallel driving system in the foregoing embodiment is applied to the parallel driving vehicle 820.
The management server 830 is used to perform the video processing method of the parallel driving system shown in fig. 3, that is, the video processing apparatus 700 of the parallel driving system in the foregoing embodiment is applied to the management server 830.
The management server 830 in this embodiment operates with a video configuration management service and a real-time video streaming service, where the video configuration management service is used to manage and maintain a video streaming configuration file of the management server, where the video streaming configuration file includes a push state identifier of each parallel driving vehicle and a binding relationship between the parallel driving vehicle and a remote cockpit, and may further include contents such as a forwarding frame rate, a format, and the like of the video streaming. The real-time video stream service is used for forwarding the real-time video stream received by the management server to a corresponding remote cockpit, for example, the real-time video stream service interacts with the video configuration management service, and forwarding the real-time video stream according to the binding relation between the parallel driving vehicle and the remote cockpit in the video stream configuration file.
In the embodiment of the application, the push video of the same parallel driving vehicle can be checked by a plurality of remote cabins at the same time, and the push video of the same parallel driving vehicle is not influenced by each other.
Fig. 9 is a schematic structural view of an electronic device according to an embodiment of the present application. Referring to fig. 9, at the hardware level, the electronic device includes a processor, and optionally an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in fig. 9, but not only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs, and forms the video processing device of the parallel driving system on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:
obtaining a plug flow control instruction issued by a management server;
determining whether the parallel driving vehicle needs video plug flow or not according to the plug flow control instruction;
if the video pushing is needed, starting a video pushing program and controlling the video pushing program to conduct video pushing;
and if the video push is not needed, closing the video push program.
Or specifically for performing the following operations:
receiving a request sent by a remote cockpit, wherein the request indicates to carry out video streaming on a target parallel driving vehicle or close the video streaming on the target parallel driving vehicle;
acquiring an expected plug flow state of the remote cockpit to the target parallel driving vehicle and a current plug flow state of the target parallel driving vehicle according to the request;
And generating a plug flow control instruction according to the expected plug flow state and the current plug flow state of the target parallel driving vehicle, and sending the plug flow control instruction to the target parallel driving vehicle.
The method performed by the video processing device of the parallel driving system disclosed in the embodiment of fig. 2 or 3 of the present application may be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is positioned in the memory, the processor reads the information in the memory, and the video processing method of the parallel driving system is completed by combining the hardware of the processor.
The electronic device may also execute the method executed by the video processing device of the parallel driving system in fig. 2 or fig. 3, and implement the functions of the video processing device of the parallel driving system in the embodiment shown in fig. 2 or fig. 3, which are not described herein.
The embodiment of the present application further proposes a computer readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to execute a method executed by a video processing apparatus of a parallel driving system in the embodiment shown in fig. 2 or fig. 3, and the embodiments of the present application are not described herein again.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (13)

1. A video processing method of a parallel driving system, which is performed by a parallel driving vehicle, characterized in that the method comprises:
obtaining a plug flow control instruction issued by a management server;
determining whether the parallel driving vehicle needs video plug flow or not according to the plug flow control instruction;
if the video pushing is needed, starting a video pushing program and controlling the video pushing program to conduct video pushing;
and if the video push is not needed, closing the video push program.
2. The video processing method according to claim 1, wherein the determining whether the parallel driving vehicle needs video streaming according to the streaming control instruction includes:
analyzing the push control instruction to obtain a push state identifier carried by the push control instruction, wherein the push state identifier is used for indicating a video push state or a non-video push state;
determining whether the parallel driving vehicle needs video streaming or not according to the streaming status identifier;
when the push state identifier indicates a video push state, determining that the parallel driving vehicle needs to carry out video push; when the push state identifier indicates a non-video push state, it is determined that video push is not required for the parallel driving vehicle.
3. A video processing method of a parallel driving system, which is executed by a management server, the method comprising:
receiving a request sent by a remote cockpit, wherein the request indicates to carry out video streaming on a target parallel driving vehicle or close the video streaming on the target parallel driving vehicle;
acquiring an expected plug flow state of the remote cockpit to the target parallel driving vehicle and a current plug flow state of the target parallel driving vehicle according to the request;
and generating a plug flow control instruction according to the expected plug flow state and the current plug flow state of the target parallel driving vehicle, and sending the plug flow control instruction to the target parallel driving vehicle.
4. The video processing method according to claim 3, wherein the management server constructs a video stream profile in advance, the video stream profile being used for managing a push state identifier of each parallel driving vehicle, and obtaining a current push state of the target parallel driving vehicle includes:
obtaining a plug-flow state identifier of the target parallel driving vehicle in the video stream configuration file;
and acquiring the current plug flow state of the target parallel driving vehicle according to the plug flow state identifier of the target parallel driving vehicle.
5. The video processing method according to claim 4, wherein the generating and transmitting a push control command to the target parallel driving vehicle according to the desired push state and the current push state of the target parallel driving vehicle includes:
comparing whether the expected plug flow state and the current plug flow state of the target parallel driving vehicle are the same or not;
if the current state identifiers are different, updating the current state identifiers of the target parallel driving vehicles in the video stream configuration file, generating the current control instruction according to the updated current state identifiers, and sending the current control instruction to the target parallel driving vehicles;
if the two types of control commands are the same, no push control command is generated.
6. The video processing method of claim 4, wherein the method further comprises:
obtaining the type of the request, wherein the type of the request comprises a video streaming request of a first remote cockpit to a first parallel driving vehicle and a video streaming closing request of a second remote cockpit to a second parallel driving vehicle;
when the request is the video streaming request, streaming video of the first parallel driving vehicle is also forwarded to the first remote cockpit;
And when the request is the video streaming closing request, determining a target remote cockpit for video streaming of the second parallel driving vehicle, and controlling the video streaming of the second parallel driving vehicle according to the target remote cockpit for video streaming of the second parallel driving vehicle.
7. The video processing method of claim 6, wherein the video stream profile is further used to manage a binding relationship between parallel-drive vehicles and remote cabins, the method comprising:
when the request is the video streaming request, generating a binding relation between the first parallel driving vehicle and the first remote cockpit according to the video streaming request, recording the binding relation between the first parallel driving vehicle and the first remote cockpit into the video streaming configuration file, and forwarding streaming video of the first parallel driving vehicle to the first remote cockpit according to the binding relation in the video streaming configuration file;
when the request is the video streaming closing request, acquiring a target remote cockpit having a binding relation with the second parallel driving vehicle according to the video streaming configuration file, and deleting the binding relation between the second remote cockpit and the second parallel driving vehicle in the video streaming configuration file if the target remote cockpit comprises the second remote cockpit and other remote cabins; if the target remote cockpit only comprises the second remote cockpit, updating a plug flow state identifier of a second parallel driving vehicle in the video stream configuration file, generating the plug flow control instruction according to the updated plug flow state identifier, and deleting a binding relation between the second remote cockpit and the second parallel driving vehicle in the video stream configuration file after the plug flow control instruction is sent to the second parallel driving vehicle.
8. The video processing method of claim 4, wherein the method further comprises:
receiving a plug flow state identifier acquisition request of a third parallel driving vehicle;
and acquiring a plug flow state identifier of the third parallel driving vehicle from the video stream configuration file, generating a plug flow control instruction according to the plug flow state identifier of the third parallel driving vehicle, and issuing the plug flow control instruction to the third parallel driving vehicle.
9. A video processing device of a parallel driving system, applied to a parallel driving vehicle, characterized by comprising:
the first receiving unit is used for acquiring a plug flow control instruction issued by the management server;
the state judging unit is used for determining whether the parallel driving vehicle needs video plug flow or not according to the plug flow control instruction;
the video streaming control unit is used for starting a video streaming program and controlling the video streaming program to perform video streaming if the video streaming is required; and if the video push is not needed, closing the video push program.
10. A video processing device of a parallel driving system, applied to a management server, characterized in that the device comprises:
The second receiving unit is used for receiving a request sent by the remote cockpit, wherein the request is used for indicating to carry out video streaming on the target parallel driving vehicle or closing the video streaming on the target parallel driving vehicle;
the state acquisition unit is used for acquiring the expected plug flow state of the remote cockpit to the target parallel driving vehicle and the current plug flow state of the target parallel driving vehicle according to the request;
and the video stream management unit is used for generating a plug flow control instruction according to the expected plug flow state and the current plug flow state of the target parallel driving vehicle and sending the plug flow control instruction to the target parallel driving vehicle.
11. A parallel driving system, characterized in that the parallel driving system comprises one or more remote cabins, one or more parallel driving vehicles for executing the video processing method of the parallel driving system according to any one of claims 1 to 2, and a management server for executing the video processing method of the parallel driving system according to any one of claims 3 to 8.
12. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which when executed cause the processor to perform the video processing method of the parallel driving system of any one of claims 1 to 2 or the video processing method of the parallel driving system of any one of claims 3 to 8.
13. A computer-readable storage medium storing one or more programs that, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the video processing method of the parallel driving system of any one of claims 1-2 or the video processing method of the parallel driving system of any one of claims 3-8.
CN202310039234.6A 2023-01-13 2023-01-13 Parallel driving system, video processing method and device, electronic equipment and medium Pending CN116708881A (en)

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