WO2020233462A1

WO2020233462A1 - Communication method for unmanned vehicle, and unmanned vehicle

Info

Publication number: WO2020233462A1
Application number: PCT/CN2020/089932
Authority: WO
Inventors: 鲍志强
Original assignee: 菜鸟智能物流控股有限公司
Priority date: 2019-05-21
Filing date: 2020-05-13
Publication date: 2020-11-26
Also published as: CN110247955A

Abstract

Provided in the embodiments of the present application are a communication method for an unmanned vehicle and an unmanned vehicle, the method comprising: establishing a plurality of communication channels with a remote control device; selecting a target communication channel from the plurality of communication channels, and sending video data acquired by a video acquisition device to the remote control device over the target communication channel; after detecting a communication problem, using the video data to respectively determine corresponding redundant video data for the communication channels other than the target communication channel; and sending the corresponding redundant video data to the remote control device over a communication channel other than the target communication channel. By means of implementing a multi-channel cooperative transmission mechanism to combat communication problems, the embodiments of the present application enable redundant video data to be transmitted by means of other communication channels and the remote control device to smoothly acquire the video data even if the transmission of video data over a target communication channel fails, avoiding security problems produced by video data loss.

Description

An unmanned vehicle communication method and unmanned vehicle

This application claims the priority of the Chinese patent application filed on May 21, 2019 with the application number 201910426232.6 and the invention title "A communication method for unmanned vehicles and unmanned vehicles", the entire content of which is incorporated into this application by reference .

Technical field

This application relates to the field of communication technology, in particular to an unmanned vehicle communication method and an unmanned vehicle.

Background technique

With the development of unmanned driving technology, parallel driving has become an important solution. The so-called parallel driving means that the unmanned vehicle collects the video of the road through the camera and uploads the collected video to the remote control device. The user can remotely control the device and remotely control the unmanned vehicle based on the video.

In the current parallel driving scheme, the unmanned vehicle can establish a communication channel with the remote control device, and upload the collected video to the remote control device through the communication channel. The driver can use the remote control device to transmit back according to the unmanned vehicle. Video control unmanned vehicle.

However, during the driving process of the unmanned vehicle, when the unmanned vehicle enters certain areas, the problem of communication failure will occur, which will cause the problem that the remote control device cannot receive the video for a short time. For parallel driving with extremely high safety requirements, the short disconnection of the video will affect the driver's control and cause great safety problems.

Summary of the invention

In view of the above problems, the embodiments of the present application are proposed to provide an unmanned vehicle communication method and an unmanned vehicle that overcome the above problems or at least partially solve the above problems.

In order to solve the above-mentioned problems, an embodiment of the present application discloses an unmanned vehicle communication method, wherein the unmanned vehicle has a video capture device, and the method includes:

Establish multiple communication channels with remote control equipment;

Selecting a target communication channel from the plurality of communication channels, and sending the video data collected by the video capture device to the remote control device on the target communication channel;

After detecting the communication problem, use the video data to determine corresponding redundant video data for other communication channels except the target communication channel;

In communication channels other than the target communication channel, corresponding redundant video data is sent to the remote control device.

Optionally, the unmanned vehicle has multiple network cards, and the establishing multiple communication channels with the remote control device includes:

The preset webpage instant messaging WebRTC API is called, and the multiple network cards are used to respectively establish multiple communication channels with the remote control device.

Optionally, after detecting a communication problem, using the video data to determine corresponding redundant video data for other communication channels except the target communication channel includes:

After detecting communication problems, determine the time point for evaluation;

After the evaluation time point, the video data is used to determine corresponding redundant video data for communication channels other than the target communication channel.

Optionally, the use of the video data to determine corresponding redundant video data for other communication channels except the target communication channel includes:

For communication channels other than the target communication channel, among the video frames included in the video data, video frames are selected as redundant video data according to a preset frame interval.

Optionally, the determining the evaluation time point includes:

Determine the evaluation time point according to the preset time period.

Optionally, it also includes:

Acquiring the amount of data received by the remote control device in each communication channel;

Determine the data transmission volume of each communication channel;

The amount of data received by the remote control device in each communication channel and the amount of data sent by each communication channel are used to calculate the transmission success rate of each communication channel.

Optionally, the obtaining the data reception volume of the remote control device in each communication channel includes:

Receive the amount of data received by the remote control device in each communication channel between two adjacent evaluation time points sent by the remote control device.

Optionally, the determining the data transmission volume of each communication channel includes:

Determine the data transmission volume of each communication channel between two adjacent evaluation time points.

Optionally, the calculation of the transmission success rate of each communication channel using the amount of data received by the remote control device in each communication channel and the amount of data sent in each communication includes:

The amount of data received by the remote control device on each communication channel between two adjacent evaluation time points and the amount of data sent by each communication channel between two adjacent evaluation time points are used to calculate Describe the transmission success rate of each communication channel.

Optionally, the selecting a target communication channel from the multiple communication channels includes:

The communication channel with the highest transmission success rate determined after the previous evaluation time point is selected as the target communication channel after the current evaluation time point.

The embodiment of the application also discloses an unmanned vehicle, the unmanned vehicle has a video capture device, and the unmanned vehicle further includes:

Communication channel establishment module, used to establish multiple communication channels with remote control equipment;

A video data sending module, configured to select a target communication channel from the multiple communication channels, and send the video data collected by the video acquisition device to the remote control device on the target communication channel;

The redundant video data determining module is configured to use the video data to determine corresponding redundant video data for communication channels other than the target communication channel after a communication problem is detected;

The redundant video data sending module is used to send corresponding redundant video data to the remote control device on a communication channel other than the target communication channel.

Optionally, the communication channel establishment module includes:

The communication channel establishment sub-module is used to call the preset webpage instant messaging WebRTC API, and use the multiple network cards to respectively establish multiple communication channels with the remote control device.

Optionally, the redundant video data determining module includes:

The evaluation time point determination sub-module is used to determine the evaluation time point after a communication problem is detected;

The redundant video data determining sub-module is configured to use the video data to determine corresponding redundant video data for communication channels other than the target communication channel after the evaluation time point.

Optionally, the redundant video data determining submodule includes:

The redundant video data determining unit is configured to select video frames as redundant video data according to a preset frame interval among the video frames included in the video data for communication channels other than the target communication channel.

Optionally, the evaluation time point determination sub-module includes:

The evaluation time point determining unit is used to determine the evaluation time point according to a preset time period.

Optionally, it also includes:

A data receiving amount acquisition module, configured to acquire the data receiving amount of the remote control device in each communication channel;

The data transmission volume determination module is used to determine the data transmission volume of each communication channel;

The transmission success rate calculation module is used to calculate the transmission success rate of each communication channel by using the data reception amount of each communication channel of the remote control device and the data transmission amount of each communication channel.

Optionally, the data receiving amount acquisition module includes:

The data reception volume receiving submodule is used to receive the data reception volume of the remote control device in each communication channel between two adjacent evaluation time points sent by the remote control device.

Optionally, the data transmission amount determining module includes:

The data transmission volume determination sub-module is used to determine the data transmission volume of each communication channel between two adjacent evaluation time points.

Optionally, the sending success rate calculation module includes:

The transmission success rate calculation sub-module is used to adopt the data reception volume of the remote control device in each communication channel between two adjacent evaluation time points, and the data reception between two adjacent evaluation time points. The data transmission quantity of the communication channel is calculated, and the transmission success rate of each communication channel is calculated.

Optionally, the video data sending module includes:

The target communication channel selection sub-module is used to select the communication channel with the highest transmission success rate determined after the previous evaluation time point as the target communication channel after the current evaluation time point.

The embodiment of the application also discloses a device, including:

One or more processors; and

One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.

The embodiment of the present application also discloses one or more machine-readable media, on which instructions are stored, which, when executed by one or more processors, cause the processors to execute one or more of the methods described above.

The embodiments of the application include the following advantages:

In the embodiment of the present application, the unmanned vehicle can establish multiple communication channels with the remote control device. Under normal communication conditions, the unmanned vehicle only sends video data to the remote control device at one target of the multiple communication channels. After the communication problem is detected, the video data is still sent on the target communication channel, and redundant video data is sent on the communication channels other than the target communication channel. The embodiment of the present application implements a multi-channel cooperative transmission mechanism to counteract Communication problems. Even if the video data transmission of the target communication channel fails, redundant video data can still be transmitted through other communication channels, so that the remote control device can still obtain video data smoothly, avoiding security problems caused by video data loss.

Description of the drawings

FIG. 1 is a flowchart of the steps of Embodiment 1 of an unmanned vehicle communication method according to the present application;

2 is a flowchart of the steps of Embodiment 2 of an unmanned vehicle communication method of the present application;

Figure 3 is a schematic diagram of sending redundant video data in an embodiment of the present application;

Fig. 4 is a structural block diagram of an embodiment of an unmanned vehicle of the present application.

Detailed ways

In order to make the above objectives, features, and advantages of the application more obvious and understandable, the application will be further described in detail below with reference to the drawings and specific implementations.

In the embodiment of the present application, in order to improve the safety of the unmanned vehicle, the unmanned vehicle may establish multiple communication channels with the remote control device. When the unmanned vehicle has no communication problems, the unmanned vehicle will only send video data to the remote control device on one target communication channel; when the unmanned vehicle has communication problems, the unmanned vehicle will still send video data to the remote control device in the main channel , And at the same time send redundant video data to the remote control equipment on multiple communication channels other than the target channel. Even if the video data transmission of the target communication channel fails, the redundant video data can still be transmitted through other communication channels, so that the remote control device can still obtain the video data smoothly, avoiding the security problems caused by the loss of video data. The specific implementation is described in detail below.

1, there is shown a step flow chart of Embodiment 1 of an unmanned vehicle communication method according to the present application. The unmanned vehicle may have a video capture device, and the method includes: specifically may include the following steps:

Step 101: Establish multiple communication channels with remote control equipment;

The unmanned vehicle in the embodiments of the present application may refer to a vehicle that has no driver in the vehicle but can be driven remotely by the driver.

In the embodiment of the present application, a remote control device (for example, a PC or a console) can communicate with multiple unmanned vehicles at the same time, and control multiple unmanned vehicles to move at the same time. At present, the parallel driving scheme is suitable for unmanned vehicles such as unmanned vehicles in warehouse distribution logistics and mining vehicles. For example, in the warehouse distribution logistics scenario, the remote control device can simultaneously control multiple unmanned vehicles connected end to end to move in the warehouse.

Before the remote control device controls the unmanned vehicle, the unmanned vehicle and the remote control device establish multiple communication channels at the same time. The communication channel can keep alive through the heartbeat mechanism, and the communication quality of each communication channel can be evaluated in real time (for example, packet loss rate, round-trip time delay, etc.).

Step 102: Select a target communication channel from the multiple communication channels, and send the video data collected by the video capture device to the remote control device on the target communication channel;

Before sending video data for the first time, an initial target communication channel can be selected from multiple communication channels; and then the video data can be sent to the remote control device on the initial target communication channel. In the subsequent sending process, the target communication channel can be replaced according to the communication quality of each communication channel.

In the embodiment of the present application, the method of selecting the initial target communication channel includes but is not limited to:

When the unmanned vehicle and the remote control device establish a communication channel, the communication channel that is first in the available state can be selected as the initial target communication channel.

You can arbitrarily select an initial target communication channel after multiple communication channels are available.

You can preset which communication channel is the initial target communication channel. After the target communication channel is established, you can directly use the preset target communication channel.

In the subsequent sending process, the communication quality of each communication channel can be periodically evaluated, and the communication channel with the best communication quality is selected as the target communication channel.

Step 103: After detecting a communication problem, use the video data to determine corresponding redundant video data for other communication channels except the target communication channel;

In the communication process, you can determine whether a communication problem occurs according to the communication quality of the communication channel. For example, when the packet loss rate is greater than the preset packet loss rate threshold, it can be considered that a communication problem has occurred. For another example, when the RTT delay is greater than the preset delay threshold, it can be considered that a communication problem has occurred.

When a communication problem is detected, the video data is still sent on the target communication channel, and redundant video data is sent on other communication channels except the target communication channel to combat network problems.

In the embodiment of the present application, the redundant video data may be part or all of the video data collected by the video collection device.

Step 104: Send corresponding redundant video data to the remote control device on a communication channel other than the target communication channel.

For communication channels other than the target communication channel, each communication channel can send different redundant video data or the same redundant video data.

2, there is shown a flow chart of the second embodiment of an unmanned vehicle communication method according to the present application. The unmanned vehicle may have a video capture device and multiple grids. The method includes: The following steps:

Step 201: Call a preset webpage instant messaging WebRTC API, and use the multiple network cards to respectively establish multiple communication channels with the remote control device.

Parallel driving requires a high-real-time communication method. In the embodiment of the present application, the unmanned vehicle and the remote control device may adopt a web real-time communication (Web Real-Time Communication) communication method. WebRTC is an application programming interface API (Application Programming Interface) that supports web browsers for real-time voice or video conversations. It was open sourced on June 1, 2011 and included in the W3C recommended standard of the World Wide Web Consortium.

The native WebRTC can only use a single network card for data transmission at the same time. However, in the process of parallel driving, many times there will be situations where a single card cannot run (for example, mobile operators have good signals, and telecom operators have bad signals. In the native WebRTC solution, when passing through this hidden danger area, it will cause about 1s of video disconnection (for example, switching from a telecommunication signal to a mobile signal). For parallel driving with extremely high safety requirements, this 1s has a great safety hazard. In this regard, in the embodiment of the present application, the native WebRTC is rewritten so that WebRTC can support data transmission using multiple network cards at the same time, so that the unmanned vehicle can communicate with the remote control device through multiple network cards through multiple channels.

Different network cards can communicate in different wireless communication modes, including but not limited to WIFI, 2G, 3G, 4G, 5G, etc.

Step 202: Select a target communication channel from the multiple communication channels, and send the video data collected by the video capture device to the remote control device on the target communication channel.

Step 203: After detecting the communication problem, use the video data to determine corresponding redundant video data for other communication channels except the target communication channel.

In the embodiment of the present application, the step 203 may include the following sub-steps:

Sub-step S11, after detecting the communication problem, determine the evaluation time point;

In the embodiment of the present application, the evaluation time point may be determined according to a preset time period;

Specifically, the evaluation time point can be determined according to a preset time period through a timer.

The time period cannot be too long, too long will make the detection not real-time; the time period cannot be too short, too short will cause too much waste of resources. In practice, the time period can be determined by a large amount of experimental data. In an example, the time period can be 100-500 ms, preferably 300 ms.

Sub-step S12, after the evaluation time point, use the video data to determine corresponding redundant video data for other communication channels except the target communication channel.

Specifically, for communication channels other than the target communication channel, among the video frames included in the video data, video frames may be selected as redundant video data at a preset frame interval.

The requirement for setting the frame interval is to make the redundant video data relatively smooth during playback, and the driver can still control the unmanned vehicle in real time based on the redundant video data.

For example, if the video data includes 30 frames of images, 10 frames of images can be selected at equal frame intervals, that is, 1 frame for every 3 frames of images is selected as redundant video data.

3 is a schematic diagram of sending redundant video data in an embodiment of the application. Among them, the unmanned vehicle establishes communication channels with the remote control device through the network card 1, the network card 2, and the network card 3, and selects the communication channel of the network card 1 as the target communication channel, and sends the video to the remote control device in the form of data packets on the target communication channel data pack. When communication problems occur, the evaluation time point is determined according to the preset time period. After the evaluation time point, redundant video data packets are sent on the network card 2 and the network card 3.

Step 204: Send corresponding redundant video data to the remote control device on a communication channel other than the target communication channel.

In the embodiment of the present application, the unmanned vehicle can send video data to the remote control device on the target communication channel, and send redundant video data on each communication channel other than the target communication channel, thereby combating communication problems. In addition, after each communication channel has sent video data, the communication quality of each communication channel can also be evaluated.

Step 205: Obtain the amount of data received by the remote control device in each communication channel.

The remote control device can count the data reception volume of the video data received in each communication channel. For example, the amount of data received may be 30 frames of pictures received.

The remote control device can send the data received statistics after the previous evaluation time point to the unmanned vehicle before the next evaluation time point, so that the unmanned vehicle can calculate the transmission success rate based on the data reception volume of the communication channel, so as to Select the target communication channel according to the sending success rate.

In an example, the step 205 may be: receiving data received by the remote control device in each communication channel between two adjacent evaluation time points sent by the remote control device.

Step 206: Determine the data transmission volume of each communication channel.

The amount of data sent can be how many frames of images are sent on the communication channel.

In an example, the step 206 may be: determining the data transmission volume of each communication channel between two adjacent evaluation time points.

Step 207: Calculate the transmission success rate of each communication channel by using the amount of data received by the remote control device in each communication channel and the amount of data sent by each communication channel.

Specifically, the data reception volume of a certain communication channel can be divided by the data transmission volume in the communication channel to calculate the transmission success rate.

In an example, the step 207 may be: adopting the data reception volume of the remote control device in each communication channel between two adjacent evaluation time points, and the amount of data received between two adjacent evaluation time points. Calculating the transmission success rate of each communication channel between the data transmission quantity of each communication channel.

The communication channel with the highest transmission success rate determined after the current evaluation time point can be selected as the target communication channel after the next evaluation time point.

Correspondingly, the step 202 may specifically include: selecting the communication channel with the highest transmission success rate determined after the previous evaluation time point as the target communication channel after the current evaluation time point.

In the embodiment of this application, the unmanned vehicle can use multiple network cards to establish multiple communication channels with the remote control device in accordance with WebRTC. Under normal communication conditions, the unmanned vehicle only sends the remote control device to one target of the multiple communication channels. Send video data. After the communication problem is detected, the video data is still sent on the target communication channel, and redundant video data is sent on the communication channels other than the target communication channel. The embodiment of the present application implements a multi-channel cooperative transmission mechanism to counteract Communication problems. Even if the video data transmission of the target communication channel fails, redundant video data can still be transmitted through other communication channels, so that the remote control device can still obtain video data smoothly, avoiding security problems caused by video data loss.

It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the described sequence of actions, because According to the embodiments of the present application, certain steps may be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

4, there is shown a structural block diagram of an embodiment of an unmanned vehicle of the present application, where the unmanned vehicle has a video capture device, and the unmanned vehicle may specifically include the following modules:

The communication channel establishment module 401 is used to establish multiple communication channels with remote control equipment;

The video data sending module 402 is configured to select a target communication channel from the multiple communication channels, and send the video data collected by the video acquisition device to the remote control device on the target communication channel;

The redundant video data determining module 403 is configured to use the video data to determine corresponding redundant video data for communication channels other than the target communication channel after a communication problem is detected;

The redundant video data sending module 404 is configured to send corresponding redundant video data to the remote control device on a communication channel other than the target communication channel.

In the embodiment of the present application, the communication channel establishing module 401 may include:

In the embodiment of the present application, the redundant video data determining module 403 may include:

In the embodiment of the present application, the redundant video data determining submodule may include:

In the embodiment of the present application, the evaluation time point determination submodule may include:

In the embodiment of the present application, the unmanned vehicle may further include:

In the embodiment of the present application, the data receiving amount acquisition module may include:

In the embodiment of the present application, the data transmission amount determining module may include:

In the embodiment of the present application, the sending success rate calculation module may include:

In the embodiment of the present application, the video data sending module may include:

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

An embodiment of the present application also provides a device, including:

One or more processors; and

One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the device to execute the method described in the embodiment of the present application.

The embodiments of the present application also provide one or more machine-readable media on which instructions are stored, which when executed by one or more processors, cause the processors to execute the methods described in the embodiments of the present application.

The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

Those skilled in the art should understand that the embodiments of the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The embodiments of this application are described with reference to the flowcharts and/or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of this application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing terminal equipment to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing terminal equipment A device for realizing the functions specified in one flow or multiple flows in the flowchart and/or one block or multiple blocks in the block diagram is generated.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The instruction device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operation steps are executed on the computer or other programmable terminal equipment to produce computer-implemented processing, so that the computer or other programmable terminal equipment The instructions executed above provide steps for implementing functions specified in one or more processes in the flowchart and/or one or more blocks in the block diagram.

Although the preferred embodiments of the embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

Finally, it should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities Or there is any such actual relationship or sequence between operations. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also those that are not explicitly listed. Other elements listed, or also include elements inherent to this process, method, article, or terminal device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, article or terminal device that includes the element.

The above describes in detail an unmanned vehicle communication method and an unmanned vehicle provided in this application. Specific examples are used in this article to illustrate the principles and implementation of the application. The description of the above embodiments is only It is used to help understand the method and core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and the scope of application. In summary, this The content of the description should not be construed as a limitation on this application.

Claims

An unmanned vehicle communication method, characterized in that the unmanned vehicle has a video capture device, and the method includes:

Establish multiple communication channels with remote control equipment;

Selecting a target communication channel from the plurality of communication channels, and sending the video data collected by the video capture device to the remote control device on the target communication channel;

After detecting the communication problem, use the video data to determine corresponding redundant video data for other communication channels except the target communication channel;

In a communication channel other than the target communication channel, corresponding redundant video data is sent to the remote control device.
The method according to claim 1, wherein the unmanned vehicle has multiple network cards, and the establishing multiple communication channels with a remote control device comprises:

The preset webpage instant messaging WebRTC API is called, and the multiple network cards are used to respectively establish multiple communication channels with the remote control device.
The method according to claim 1, characterized in that, after detecting a communication problem, using the video data to determine corresponding redundant video data for other communication channels except the target communication channel, include:

After detecting communication problems, determine the time point for evaluation;

After the evaluation time point, the video data is used to determine corresponding redundant video data for communication channels other than the target communication channel.
The method according to claim 3, wherein said using said video data to determine corresponding redundant video data for communication channels other than said target communication channel respectively comprises:

For communication channels other than the target communication channel, among the video frames included in the video data, video frames are selected as redundant video data according to a preset frame interval.
The method according to claim 3, wherein the determining the evaluation time point comprises:

Determine the evaluation time point according to the preset time period.
The method according to claim 3, further comprising:

Acquiring the amount of data received by the remote control device in each communication channel;

Determine the data transmission volume of each communication channel;

The amount of data received by the remote control device in each communication channel and the amount of data sent by each communication channel are used to calculate the transmission success rate of each communication channel.
The method according to claim 6, wherein said obtaining the data reception amount of the remote control device in each communication channel comprises:

Receive the amount of data received by the remote control device in each communication channel between two adjacent evaluation time points sent by the remote control device.
The method according to claim 7, wherein said determining the data transmission volume of each communication channel comprises:

Determine the data transmission volume of each communication channel between two adjacent evaluation time points.
The method according to claim 8, wherein the calculation of the transmission success rate of each communication channel is performed by using the amount of data received by the remote control device in each communication channel and the amount of data sent by each communication. include:

The amount of data received by the remote control device on each communication channel between two adjacent evaluation time points and the amount of data sent by each communication channel between two adjacent evaluation time points are used to calculate Describe the transmission success rate of each communication channel.
The method according to claim 6, wherein the selecting a target communication channel from the plurality of communication channels comprises:

The communication channel with the highest transmission success rate determined after the previous evaluation time point is selected as the target communication channel after the current evaluation time point.
An unmanned vehicle, characterized in that the unmanned vehicle has video capture equipment, and the unmanned vehicle further includes:

Communication channel establishment module, used to establish multiple communication channels with remote control equipment;

A video data sending module, configured to select a target communication channel from the multiple communication channels, and send the video data collected by the video acquisition device to the remote control device on the target communication channel;

The redundant video data determining module is configured to use the video data to determine corresponding redundant video data for communication channels other than the target communication channel after a communication problem is detected;

The redundant video data sending module is used to send corresponding redundant video data to the remote control device on a communication channel other than the target communication channel.
The unmanned vehicle according to claim 11, wherein the communication channel establishment module comprises:

The communication channel establishment sub-module is used to call the preset webpage instant messaging WebRTC API, and use the multiple network cards to respectively establish multiple communication channels with the remote control device.
The unmanned vehicle according to claim 11, wherein the redundant video data determining module comprises:

The evaluation time point determination sub-module is used to determine the evaluation time point after a communication problem is detected;

The redundant video data determining sub-module is configured to use the video data to determine corresponding redundant video data for communication channels other than the target communication channel after the evaluation time point.
The unmanned vehicle according to claim 13, wherein the redundant video data determining sub-module comprises:

The redundant video data determining unit is configured to select video frames as redundant video data according to a preset frame interval among the video frames included in the video data for communication channels other than the target communication channel.
The unmanned vehicle according to claim 13, wherein the evaluation time point determination sub-module comprises:

The evaluation time point determining unit is used to determine the evaluation time point according to a preset time period.
The unmanned vehicle according to claim 13, further comprising:

A data receiving amount acquisition module, configured to acquire the data receiving amount of the remote control device in each communication channel;

The data transmission volume determination module is used to determine the data transmission volume of each communication channel;

The transmission success rate calculation module is used to calculate the transmission success rate of each communication channel by using the data reception amount of each communication channel of the remote control device and the data transmission amount of each communication channel.
The unmanned vehicle according to claim 16, wherein the data receiving amount acquisition module comprises:

The data reception volume receiving submodule is used to receive the data reception volume of the remote control device in each communication channel between two adjacent evaluation time points sent by the remote control device.
The unmanned vehicle according to claim 17, wherein the data transmission amount determining module comprises:

The data transmission volume determination sub-module is used to determine the data transmission volume of each communication channel between two adjacent evaluation time points.
The unmanned vehicle of claim 18, wherein the sending success rate calculation module comprises:

The transmission success rate calculation sub-module is used to adopt the data reception volume of the remote control device in each communication channel between two adjacent evaluation time points, and the data reception between two adjacent evaluation time points. The data transmission quantity of the communication channel is calculated, and the transmission success rate of each communication channel is calculated.
The unmanned vehicle according to claim 16, wherein the video data sending module comprises:

The target communication channel selection sub-module is used to select the communication channel with the highest transmission success rate determined after the previous evaluation time point as the target communication channel after the current evaluation time point.
A device, characterized in that it comprises:

One or more processors; and

One or more machine-readable media having instructions stored thereon, when executed by the one or more processors, cause the device to perform one or more of the methods according to claims 1-10.
One or more machine-readable media having instructions stored thereon, when executed by one or more processors, cause the processors to perform one or more of the methods according to claims 1-10.