Method for transmitting video data, vehicle and computer readable storage medium

Abstract

The application provides a transmission method of video data, a vehicle and a computer readable storage medium, comprising: obtaining data transmission requests of multiple transmission channels of the vehicle, determining data amounts of video data stored in the buffers corresponding to the transmission channels according to the data transmission requests; determining priorities of the transmission channels according to the data amounts; writing the video data in the buffers corresponding to the transmission channels into a memory in order of the priorities from high to low, and transmitting the video data written in the memory to a target terminal in real time. In the application, the video data of the transmission channels is transmitted to the target terminal in order of the video data in the buffers from more to less, so that the video data with larger storage data amounts is preferentially written and transmitted, the congestion of the video data is avoided, the intelligent driving platform timely issues an instruction to the vehicle, and the driving safety of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data transmission, and in particular to a video data transmission method, a vehicle and a computer readable storage medium. BACKGROUND

[0002] With the development of artificial intelligence technology, intelligent driving technology has emerged. Intelligent driving technology is a technology in which machines assist or replace humans in driving.

[0003] Intelligent driving technology cannot be separated from the mutual cooperation of the perception layer, the control layer and the execution layer of the vehicle. Sensors such as cameras acquire images as the perception layer of the vehicle. In order to meet the needs of intelligent driving technology, multiple high-pixel and high-resolution cameras are installed on the vehicle. Each camera uploads the intelligent driving platform through the corresponding transmission path after collecting video data.

[0004] Due to the high pixel and high resolution of the camera, and the presence of multiple cameras, the amount of data transmitted by the vehicle is large, i.e. the throughput of the video data of the vehicle is extremely large. However, the storage capacity of the memory is limited, and the video data collected by the multiple cameras will be continuously stored in the memory, which will cause congestion of the video data, resulting in the intelligent driving platform being unable to obtain the current environmental perception data of the vehicle, so that the vehicle cannot be issued with instructions suitable for the current environment, and the driving safety of the vehicle is low. SUMMARY

[0005] The present application provides a video data transmission method, a vehicle and a computer readable storage medium to solve the problem of low driving safety of the vehicle.

[0006] In one aspect, the present application provides a video data transmission method, comprising:

[0007] obtaining data transmission requests of multiple transmission paths of a vehicle, determining the data amount of the video data stored in the cache corresponding to the transmission path according to the data transmission request;

[0008] determining the priority of the transmission path according to the data amount, wherein the greater the data amount, the higher the priority;

[0009] writing the video data in the cache corresponding to each transmission path into the memory in order from high to low according to the priority, and transmitting the video data written in the memory to a target terminal in real time.

[0010] In one embodiment, the priority of the transmission path is determined according to the data amount, comprising:

[0011] obtaining the first data write rate and data read rate of the cache, and obtaining the second data write rate of the memory;

[0012] determine a transmission duration of the video data according to the data amount and the second data write rate, and determine a first duration for the cache to be full of data according to the maximum storage amount of the cache, the first data write rate and the data read rate;

[0013] determine the priority of the transmission path according to a difference between the first duration and the transmission duration.

[0014] In an embodiment, the maximum storage amount is set according to a preset relationship, and the preset relationship is set as a maximum duration for the cache to be full of data being greater than a maximum transmission duration of the video data in the memory.

[0015] In an embodiment, the determining the priority of the transmission path according to the data amount comprises:

[0016] determining a first ratio between the data amount and the maximum storage amount of the cache;

[0017] determining the priority of the transmission path according to the first ratio.

[0018] In an embodiment, the determining the priority of the transmission path according to the first ratio comprises:

[0019] determining a target interval of the first ratio in a plurality of intervals, and the plurality of intervals are divided according to a first preset ratio and a second preset ratio;

[0020] determining the priority of the transmission path according to the target interval.

[0021] In an embodiment, the writing of the video data in the cache corresponding to the transmission path to the memory and the transmission of the video data written in the memory to a target terminal specifically comprises:

[0022] writing the video data in the cache corresponding to the transmission path to the memory;

[0023] pausing the writing of the video data when a preset number of images in the video data are written in the memory;

[0024] reading the data written in the memory and transmitting the read data to a target terminal;

[0025] returning to execute the step of writing the video data in the cache corresponding to the transmission path to the memory when the video data in the cache is not written completely.

[0026] In an embodiment, the writing of the video data in the cache corresponding to the transmission path to the memory comprises:

[0027] write the video data in the buffer corresponding to the transmission path to the memory, and record a first frame number of a first frame image written in the memory;

[0028] the reading of the data written in the memory and the transmission of the read data to the target terminal, comprising:

[0029] reading the video data written in the memory, and obtaining a second frame number of a first frame image read from the memory and a time point;

[0030] comparing the first frame number and the second frame number to obtain a comparison result, and generating a data packet according to the read video data, the first frame number, the time point and the comparison result, the comparison result being used to indicate whether the data packet has a frame loss image;

[0031] sending the data packet to the target terminal.

[0032] In another aspect, the present application also provides a vehicle, comprising:

[0033] an obtaining module, configured to obtain data transmission requests of a plurality of transmission paths of a vehicle, and determine data amounts of video data stored in buffers corresponding to the transmission paths according to the data transmission requests;

[0034] a determining module, configured to determine priorities of the transmission paths according to the data amounts, wherein the greater the data amount is, the higher the priority is;

[0035] a writing module, configured to write the video data in the buffers corresponding to the transmission paths to the memory in a descending order of the priorities.

[0036] In another aspect, the present application also provides a vehicle, comprising a memory and a processor;

[0037] the memory stores computer execution instructions;

[0038] the processor executes the computer execution instructions stored in the memory, so that the processor executes the transmission method of the video data as described above.

[0039] In another aspect, the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the transmission method of the video data as described above.

[0040] The application provides a video data transmission method, a vehicle and a computer readable storage medium. Data transmission requests of multiple transmission channels of the vehicle are acquired, data amounts of video data stored in buffers corresponding to the transmission channels are determined according to the data transmission requests, priorities of the transmission channels are determined according to the data amounts, video data in the buffers corresponding to the transmission channels is written into a memory in order of the priorities from high to low, and the video data written into the memory is transmitted to a target terminal in real time. In the application, the greater the data amount of the video data in the buffer corresponding to the transmission channel, the higher the priority of the transmission channel, that is, the video data of the transmission channels is transmitted to the target terminal in order of the video data in the buffers from more to less, so that the video data with a large storage data amount is preferentially written and transmitted, the congestion of the video data is avoided, the intelligent driving platform timely issues an instruction to the vehicle, and the driving safety of the vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure.

[0042] Figure 1 A system architecture diagram for implementing the video data transmission method of the application is shown in the figure.

[0043] Figure 2 A flowchart of the first embodiment of the video data transmission method of the application is shown in the figure.

[0044] Figure 3 A flowchart of the second embodiment of the video data transmission method of the application is shown in the figure.

[0045] Figure 4 A flowchart of the third embodiment of the video data transmission method of the application is shown in the figure.

[0046] Figure 5 A flowchart of the fourth embodiment of the video data transmission method of the application is shown in the figure.

[0047] Figure 6 A functional module diagram of the vehicle of the application is shown in the figure.

[0048] Figure 7 A hardware structure diagram of the vehicle of the application is shown in the figure.

[0049] The above figures have shown the specific embodiments of the present disclosure, and the following will have a more detailed description. These figures and the written description are not intended to limit the scope of the concept of the present disclosure by any means, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0051] The present invention provides a method for transmitting video data. Figure 1 The system architecture diagram shown is implemented. Figure 1 As shown, the vehicle is equipped with multiple cameras, such as a front-facing three-lens camera, a front-facing monocular camera, an enhanced perception camera, a surround-view camera, a driver monitoring camera, an in-vehicle camera, and a rear-facing camera. Each camera has a corresponding transmission path, and a buffer is provided between each camera 110 and the transmission path. Video data collected by the camera is first stored in the buffer. The vehicle also has a memory and a processor. The interfaces of each transmission path send data transmission requests to the processor, which then writes the video data in the buffer corresponding to each transmission path to the memory.

[0052] The following specific embodiments describe in detail the technical solutions of the present invention and how the technical solutions of this application solve the above-mentioned technical problems. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0053] Reference Figure 2 , Figure 2 In a first embodiment of the video data transmission method of the present invention, the video data transmission method includes the following steps:

[0054] Step S201 : obtaining data transmission requests of multiple transmission paths of a vehicle, and determining the amount of video data stored in a buffer corresponding to the transmission path according to the data transmission requests.

[0055] In this embodiment, the execution entity is a vehicle. The vehicle is equipped with multiple cameras, each connected to a corresponding cache. Video data captured by the cameras is first stored in the cache. The cache is connected to a transmission path. The interface of the transmission path communicates with the vehicle's processor. In other words, the interface can send a data transmission request to the processor to write the video data stored in the cache to the memory, which then transmits the video data to the intelligent driving platform through the memory.

[0056] Exemplarily, the processor can be a SOC (System on Chip or System Level Chip). The SOC can be a Zynq UltraScale+ XCZU7EV-2FFVC1156 MPSoC, which can be equipped with four-core Cortex-A53, dual-core Cortex-R5 real-time processor, Mali Cortex TM -A53's PS (Processing system PS, application processing system), dual-core Cortex-R5 real-time processor, Mali TM -400MP2 graphics processing unit, H.264 / H.265 video codec supporting 4K P60, and 16nm FinFET+FPGA's PL (Processing Logic, editable logic), DDR (Direct Memory Access) controller, USB (Universal Serial Bus), EMMC (Embedded Multi Media Card) controller and some other peripherals. The PL facilitates hardware acceleration and parallel processing, and the PS facilitates control, communication, interface and peripheral interaction.

[0057] In the embodiment, the video data collected by the camera is first stored in the cache corresponding to the transmission path connected by the camera, which can be a fifo cache (first-in first-out cache). Each camera has different configurations, and the video data collected by the camera has different requirements, so the amount of video data required to be transmitted by each camera is different, and thus the amount of video data stored in the cache corresponding to each transmission path is different. After the video data is collected by each camera, the video data is first cached in the corresponding cache, and a data transmission request is sent through the interface of the transmission path. The data transmission request carries the storage information in the cache corresponding to the transmission path, for example, the storage information carries the size of the amount of data stored in the cache. The vehicle obtains the amount of video data stored in the cache based on the data transmission request.

[0058] Step S202, determining the priority of the transmission path according to the amount of data, wherein the greater the amount of data, the higher the priority.

[0059] In the embodiment, the vehicle is provided with a multi-cache priority mechanism. Specifically, the video data is continuous, and the storage space of the fifo cache is limited, so the amount of video data stored in the fifo cache cannot be too high. The vehicle determines the priority of the transmission path based on the amount of video data stored in the cache, and the greater the amount of data, the higher the priority of the transmission path. The higher the priority, the video data in the cache corresponding to the transmission path is read and written preferentially.

[0060] S203, write the video data in the buffer corresponding to each transmission path to the memory according to the priority from high to low, and transmit the video data written in the memory to the target terminal in real time.

[0061] Since the memory can only write the video data of one camera first, the vehicle writes the video data in the buffer corresponding to each transmission path to the memory according to the priority from high to low, and transmits the data written in the memory to the target terminal in real time while writing the video data to the memory, that is, the memory transmits the video data of one camera first and then transmits the video data of another camera.

[0062] For example, the memory included in the vehicle includes a DDR memory on the PL side and a DDR memory on the PS side. The video data of multiple paths in the vehicle is stored in the DDR memory on the PL side, and the video data of another part is stored in the DDR memory on the PS side. The DDR memory on the PL side can transmit the stored video data to the computing platform, and the DDR memory on the PS side can transmit the stored video data to the driving platform. That is, the target terminal is the terminal corresponding to the computing platform or the terminal corresponding to the driving platform.

[0063] In this embodiment, the data transmission requests of multiple transmission paths of the vehicle are obtained, the data amount of the video data stored in the buffer corresponding to the transmission path is determined according to the data transmission request, the priority of the transmission path is determined according to the data amount, the video data in the buffer corresponding to each transmission path is written to the memory according to the priority from high to low, and the video data written in the memory is transmitted to the target terminal in real time. In this embodiment, the greater the data amount of the video data in the buffer corresponding to the transmission path, the higher the priority of the transmission path, that is, the video data of each transmission path is transmitted to the target terminal according to the order of the video data in each buffer from more to less, so that the video data with a larger storage data amount is written and transmitted preferentially, avoiding the congestion of the video data, so that the intelligent driving platform can timely issue instructions to the vehicle, and the driving safety of the vehicle is improved.

[0064] Referring to Figure 3 , Figure 3 The second embodiment of the video data transmission method of the present application is based on the first embodiment, and step S201 includes:

[0065] S301, obtain the first data write rate and the data read rate of the buffer, and obtain the second data write rate of the memory.

[0066] In the embodiment, the cache is a fifo cache. The data collected by the multi-camera is serialized and deserialized to obtain video data, and then transmitted to a hardware board through a mipi interface, so that the video data is transmitted. The data transmitted by the mipi interface is mipi video data, and the ready of the mipi video data cannot be pulled low. Once it is pulled low, the mipi interface will not transmit the mipi video data. The ddr memory is time multiplexed and cannot respond immediately, so a fifo cache is added to buffer the video data first.

[0067] The memory is to transmit the written data to the target terminal in real time. In order to avoid the video data from being blocked due to the fact that the video data cannot be stored in the cache, the time length during which the video data in the cache is filled needs to be set to be greater than the transmission time length of the memory transmitting data. In this regard, the vehicle can determine the priority of the transmission path based on the above two time lengths.

[0068] Specifically, the vehicle obtains a first data write rate and a data read rate of the cache. The first data write rate is the rate at which the video data is written into the cache, and the data read rate is the rate at which the video data is read from the cache. The vehicle further obtains a second data write rate of the memory.

[0069] In step S302, the transmission time length of the video data is determined according to the data amount and the second data write rate, and the first time length during which the cache is filled with data is determined according to the maximum storage amount of the cache, the first data write rate and the data read rate.

[0070] The vehicle determines the transmission time length of the video data based on the data amount of the video data in the cache and the second data write rate. The data amount divided by the second data write rate is the transmission time length.

[0071] The vehicle further determines the first time length during which the cache is filled with data based on the maximum storage amount of the cache, the first data write rate and the data read rate. For example, the difference between the ratio of the maximum storage amount to the first data write rate and the data read rate is the first time length.

[0072] In step S303, the priority of the transmission path is determined according to the difference between the first time length and the transmission time length.

[0073] The vehicle can obtain the first time length and the transmission time length of each transmission path, and then calculate the difference between the first time length and the transmission time length corresponding to the transmission path. The difference is the difference between the first time length and the transmission time length. The smaller the difference is, the greater the time during which the cache stores data is than the time length of the video data transmission in the memory, so the cache is more likely to cause the video data to be blocked. It can be understood that the smaller the difference is, the higher the priority of the transmission path is.

[0074] In the embodiment, the vehicle determines the transmission duration of the video data and the first duration for the buffer to be full based on the data write rate of the buffer, the data read rate of the buffer and the second data write rate of the memory, and finally determines the priority of the transmission path according to the difference between the first duration and the transmission duration.

[0075] In an embodiment, the maximum storage capacity of the buffer is set according to a preset relationship, and the preset relationship is set to be that the maximum duration for the buffer to be full is greater than the maximum transmission duration of the video data in the memory. The preset relationship can be expressed by the following inequality: [maximum storage capacity / (data write rate of buffer - data read rate of buffer)] > (maximum storage capacity / data write rate of memory). The data write rate of buffer, the data read rate of buffer and the data write rate of memory are certain, so the relationship of the maximum storage capacity can be obtained based on the inequality, and the maximum storage capacity can be designed through the relationship.

[0076] In the embodiment, by setting the maximum storage capacity of the buffer, the maximum duration for the buffer to be full is greater than the maximum transmission duration of the video data in the memory, so that the buffer always has storage space for storing the video data, and it is ensured that the video data will not be blocked.

[0077] Reference Figure 4 , Figure 4 For the third embodiment of the video data transmission method of the application, based on the first embodiment, step S202 comprises:

[0078] Step S401, determining a first ratio between the data amount and the maximum storage capacity of the buffer.

[0079] Step S402, determining the priority of the transmission path according to the first ratio.

[0080] In the embodiment, the vehicle determines the first ratio between the data amount of the video data in the buffer and the maximum storage capacity, so as to determine the priority of the transmission path corresponding to the buffer based on the first ratio.

[0081] In an example, the higher the first ratio is, the more data stored in the buffer, and the less storage space remaining in the buffer, so the video data in the buffer needs to be transmitted preferentially. For this reason, the higher the first ratio corresponding to the buffer is, the higher the priority of the transmission path corresponding to the buffer is.

[0082] In another example, two thresholds are set according to the maximum depth of the cache (maximum storage capacity), one threshold D1=Dmax / 3, and another threshold D2=(2*Dmax) / 3, Dmax being the maximum depth. D1 is stored as the first preset ratio, and D2 is stored as the second preset ratio. After obtaining the first ratio, the vehicle determines a target interval in which the first ratio is located among multiple intervals. The multiple intervals are divided based on the first preset ratio and the second preset ratio. The vehicle determines the priority of the transmission path based on the target interval. For example, if the first ratio is greater than D1 and less than D2, a high priority identifier of High_half_full (high half full marker) is generated; if the first ratio is greater than or equal to the third ratio D2, a highest priority identifier of Highest_half_full (highest half full marker) is generated. The interface of the transmission path initiates a data transmission request, and the data transmission request carries the high priority identifier or the highest priority identifier of the transmission path. Through the double thresholds (D1 and D2), the stable operation of the multiple camera lenses of the vehicle is ensured.

[0083] When receiving data transmission requests of multiple transmission paths, the priorities of each transmission path are analyzed from the data transmission requests, so as to determine the transmission paths with multiple highest priority identifiers and the transmission paths with multiple high priority identifiers. The vehicle writes the video data in the cache corresponding to the transmission paths with multiple highest priority identifiers into the memory first, and then writes the video data in the cache corresponding to the transmission paths with multiple high priority identifiers into the memory.

[0084] In this embodiment, the vehicle determines the ratio between the data quantity and the maximum storage capacity of the cache, so as to accurately determine the priority of the transmission path according to the ratio.

[0085] Reference Figure 5 , Figure 5 For the fourth embodiment of the video data transmission method of the present application, based on any one of the first to third embodiments, step S203 comprises:

[0086] Step S501, write the video data in the cache corresponding to the transmission path into the memory.

[0087] In this embodiment, the vehicle writes the video data in the cache corresponding to the transmission path into the memory, and starts the number of images written into the memory. For example, when writing the video data in the cache corresponding to the transmission path into the memory, the first frame number of the first frame image written into the memory is recorded.

[0088] Step S502, when writing the images of the preset frame number in the video data into the memory, pause the writing of the video data.

[0089] The vehicle adopts a zero frame delay interrupt notification video frame management, that is, the vehicle transmits the video frame (image) written in the memory when the vehicle writes a preset number of images in the memory. For example, the vehicle counts 0 when it starts to write the first frame of video data into the memory, counts 1 when it writes the second frame of image into the memory, counts 2 when it writes the third frame of image into the memory, and counts 3 when it writes the fourth frame of image into the memory. When the writing is just started, a wr_capt_frame_num (write capture frame number) is generated, which can be the first frame number. When the count is 3, that is, after the writing of the last frame is completed, a write_dma_finish (write completion signal) is generated. In addition, when the wr_capt_frame_num is generated, a DDR frame address is generated based on the wr_capt_frame_num, and then the first frame of image is written into the DDR memory corresponding to the DDR frame address.

[0090] In step S503, the data written in the memory is read, and the read data is transmitted to the target terminal.

[0091] After the write completion signal is generated, the writing of the video data is first suspended. At this time, the PS or PCIE detects the write_dma_finish, and then reads the four frames of image written in the memory. In addition, when the video data written in the memory is read, a second frame number of the read first frame of image is obtained, which is, for example, a read_disp_frame_num value (read display frame number). It can be understood that the memory writes a preset number of images, and then suspends the writing of the video data, and notifies the PS or PCIE to take the video data stored in the memory.

[0092] After the read video data is transmitted to the target terminal, if the video data in the buffer is not completely written into the memory, a new round of writing of a preset number of images is started, that is, the step of writing the video data in the buffer corresponding to the transmission path into the memory is executed again. If the video data is completely written into the memory, the video data in the buffer corresponding to the new transmission path is written into the memory.

[0093] Further, when the video data is written from the memory, the second frame number of the read first frame of image in the memory and the time point are obtained. The vehicle compares the first frame number and the second frame number to obtain a comparison result, generates a data packet according to the read video data, the first frame number, the time point and the comparison result, and sends the data packet to the target terminal. The comparison result is used to indicate whether there is a frame loss image in the data packet.

[0094] Specifically, if the comparison result is that the first frame number wr capt frame num is equal to the second frame number read disp frame num, it is determined that the data packet is not lost frame and the time delay of data transmission is in the lowest range; if the comparison result is that the first frame number wr capt frame num is not equal to the second frame number read disp frame num, it is determined that the data packet is lost frame. The first frame number and the time point are spliced as data as the tail of the data packet, for example, the first frame number and the time point are spliced as a 64-bit data. The time point is a time stamp, and the time stamp can also be used by the target terminal to determine whether the video data is lost frame, and the time stamp is also a necessary parameter for fusion with other sensors.

[0095] In the embodiment, the vehicle can achieve low time delay in transmitting video data of each transmission path, mainly by adopting a video frame management with zero frame delay interrupt notification plus frame number time stamp double check mode. The zero frame delay interrupt notification refers to starting counting zero when the first frame image is written in the memory, and interrupting the writing of the video data after a preset number of images are written to notify the corresponding components to transmit the written video data. The frame number time stamp double check refers to determining whether the video data written in the memory is lost frame by comparing the first frame number with the second frame number and the time point. Through such attempts, the vehicle can achieve the lowest delay while reducing the delay caused by the ddr memory as much as possible. In addition, the time point is in the us level, which facilitates the synchronization of the video data and other sensors.

[0096] The application also provides a vehicle, referring to Figure 6 , the vehicle 600 comprises:

[0097] The acquisition module 610 is configured to acquire data transmission requests of a plurality of transmission paths of the vehicle, and determine the data amount of the video data stored in the cache corresponding to the transmission path according to the data transmission request.

[0098] The determination module 620 is configured to determine the priority of the transmission path according to the data amount, wherein the greater the data amount, the higher the priority.

[0099] The writing module 630 is configured to write the video data in the cache corresponding to each transmission path into the memory in the order from high to low according to the priority, and transmit the video data written in the memory to the target terminal in real time.

[0100] In an embodiment, the vehicle 600 comprises:

[0101] The acquisition module 610 is configured to acquire the first data writing rate and the data reading rate of the cache, and acquire the second data writing rate of the memory.

[0102] The determining module 620 is configured to determine a transmission duration of the video data according to the data amount and the second data write rate, and determine a first duration for which the cache is full according to the maximum storage amount of the cache, the first data write rate, and the data read rate.

[0103] The determining module 620 is configured to determine the priority of the transmission path according to a difference between the first duration and the transmission duration.

[0104] In an embodiment, the maximum storage amount is set according to a preset relationship, and the preset relationship is set to be that a maximum duration consumed for the cache to be full is greater than a maximum transmission duration of the video data in the memory.

[0105] In an embodiment, the vehicle 600 includes:

[0106] The determining module 620 is configured to determine a first ratio between the data amount and the maximum storage amount of the cache.

[0107] The determining module 620 is configured to determine the priority of the transmission path according to the first ratio.

[0108] In an embodiment, the vehicle 600 includes:

[0109] The determining module 620 is configured to determine, in a plurality of intervals, a target interval in which the first ratio is located, and the plurality of intervals are divided according to a first preset ratio and a second preset ratio.

[0110] The determining module 620 is configured to determine the priority of the transmission path according to the target interval.

[0111] In an embodiment, the vehicle 600 includes:

[0112] The writing module 630 is configured to write the video data in the cache corresponding to the transmission path to the memory.

[0113] The pausing module is configured to pause the writing of the video data when a preset number of images in the video data are written in the memory.

[0114] The reading module is configured to read the data written in the memory, and transmit the read data to a target terminal.

[0115] The returning module is configured to return to execute the step of writing the video data in the cache corresponding to the transmission path to the memory when the video data in the cache is not written completely.

[0116] In an embodiment, the vehicle 600 includes:

[0117] The writing module 630 is configured to write the video data in the cache corresponding to the transmission path to the memory, and record a first frame number of a first frame image written in the memory.

[0118] A reading module is used to read the video data written in the memory and obtain the second frame number and time point of the first frame image read from the memory;

[0119] The writing module 630 is configured to compare the first frame number with the second frame number to obtain a comparison result, and generate a data packet based on the read video data, the first frame number, the time point, and the comparison result, wherein the comparison result is used to indicate whether the data packet contains a frame loss image;

[0120] The sending module is used to send data packets to the target terminal.

[0121] Figure 7 The figure is a schematic diagram of the hardware structure of a vehicle according to an exemplary embodiment.

[0122] The vehicle 700 may include: a processor 701, such as a CPU, a memory 702, and a transceiver 703. Those skilled in the art will appreciate that Figure 7 The structure shown in the figure does not limit the vehicle and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components. The memory 702 may be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0123] The processor 701 may call the computer program stored in the memory 702 to complete all or part of the steps of the above-mentioned video data transmission method.

[0124] The transceiver 703 is used to receive information sent by an external device and send information to the external device.

[0125] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a vehicle, enables the vehicle to perform the above-mentioned video data transmission method.

[0126] A computer program product includes a computer program. When the computer program is executed by a processor of a vehicle, the vehicle is enabled to perform the above-mentioned video data transmission method.

[0127] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the disclosure be construed as including any patents, patent applications, publications, publications, or other disclosure of the prior art that are referred to by their title or by a general identification of their content. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the disclosure indicated by the following claims.

[0128] It is understood that the present disclosure is not limited to the precise construction disclosed above and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the claims that follow.

Claims

1. A method for transmitting video data, characterized in that: include: Obtaining data transmission requests of multiple transmission paths of the vehicle, and determining the amount of video data stored in the buffer corresponding to the transmission path according to the data transmission requests; Obtaining a first data write rate and a data read rate of the cache, and obtaining a second data write rate of the memory; Determining a transmission duration of the video data based on the data volume and the second data write rate, and determining a first duration for the cache to be full of data based on a maximum storage capacity of the cache, the first data write rate, and the data read rate; determining the priority of the transmission path according to a difference between the first duration and the transmission duration, wherein the smaller the difference, the higher the priority; The video data in the buffer corresponding to each of the transmission paths are written into the memory in order of priority from high to low, and the video data written in the memory are transmitted to the target terminal in real time.

2. The video data transmission method according to claim 1, wherein: The maximum storage capacity is set according to a preset relationship, and the preset relationship is set such that the maximum time required for the cache to be full of data is greater than the maximum transmission time of the video data in the memory.

3. The video data transmission method according to claim 1, wherein: Determining the priority of the transmission path according to the data volume includes: determining a first ratio between the amount of data and a maximum storage capacity of the cache; The priority of the transmission path is determined according to the first ratio.

4. The video data transmission method according to claim 3, wherein: The determining the priority of the transmission path according to the first ratio includes: Determine a target interval in which the first ratio is located among a plurality of intervals, wherein the plurality of intervals are obtained by dividing the first preset ratio and the second preset ratio; The priority of the transmission path is determined according to the target interval.

5. The method for transmitting video data according to any one of claims 1 to 4, characterized in that: Writing the video data in the buffer corresponding to the transmission path into the memory and transmitting the video data written in the memory to the target terminal specifically includes: Writing the video data in the buffer corresponding to the transmission path into the memory; When writing a preset number of frames of images in the video data into the memory, pausing the writing of the video data; Reading the data written in the memory and transmitting the read data to the target terminal; When the video data in the buffer memory has not been completely written, the process returns to the step of writing the video data in the buffer memory corresponding to the transmission path into the memory.

6. The video data transmission method according to claim 5, characterized in that: Writing the video data in the buffer corresponding to the transmission path into the memory includes: Writing the video data in the buffer corresponding to the transmission path into a memory, and recording the first frame number of the first frame of image written into the memory; The reading of the data written in the memory and transmitting the read data to the target terminal includes: Reading the video data written in the memory, and obtaining a second frame number and a time point of a first frame image read from the memory; Comparing the first frame number with the second frame number to obtain a comparison result, and generating a data packet according to the read video data, the first frame number, the time point, and the comparison result, wherein the comparison result is used to indicate whether the data packet contains a frame-lost image; The data packet is sent to the target terminal.

7. A vehicle, characterized in that: include: an acquisition module, configured to acquire data transmission requests of a plurality of transmission paths of the vehicle, and determine, based on the data transmission requests, an amount of video data stored in a buffer corresponding to the transmission path; a determination module, configured to obtain a first data write rate and a data read rate of the cache, and obtain a second data write rate of the memory; determine a transmission duration of the video data based on the data volume and the second data write rate, and determine a first duration for the cache to be full of data based on a maximum storage volume of the cache, the first data write rate, and the data read rate; determining the priority of the transmission path according to a difference between the first duration and the transmission duration, wherein the smaller the difference, the higher the priority; The writing module is used to write the video data in the buffer corresponding to each transmission path into the memory in the order of the priority from high to low, and transmit the video data written in the memory to the target terminal in real time.

8. A vehicle, characterized in that: include: memory and processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the video data transmission method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the video data transmission method according to any one of claims 1 to 6.

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