Simulation video injection method and system

Abstract

The invention discloses a simulation video injection method and system. The injection system comprises a simulation video rendering workstation, a PCIe adapter board, a CPCIe adapter board, a CPCIe expansion case and a video simulation board card. The PCIe adapter board is connected with the simulation video rendering workstation; the PCIe adapter board is connected with the CPCIe adapter board; the CPCIe adapter board is arranged in the CPCIe expansion case, and the CPCIe adapter board is provided with a plurality of CPCIe slot positions; the video simulation board card is arranged in a CPCIe slot position of the CPCIe expansion case; and the video simulation board card is connected with the controller. The image data is transmitted to the video simulation board card through the PCIe adapter board and the CPCIe adapter board, then the image data is injected into the controller, and the image is processed by the display card, so that richer image post-processing effects can be realized.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a method and system for injecting a simulated video. Background Art

[0002] With the rapid development of automotive intelligent driving technology, the number of I / Os that need to be simulated in the hardware-in-the-loop (HIL) test of the controller has indeed increased. In the HIL test, in order to simulate the real driving scene and environment, the generated simulation video can be injected into the corresponding camera simulation input to complete the simulation video injection later.

[0003] At present, the scene simulation software is generally used to render the video using a graphics card, and then the rendered video content is output to the camera simulation board through the display port of the graphics card. The camera simulation board then processes the image content and simulates the camera-related signals and the simulated video data and inputs them to the controller to achieve simulated video injection. Image post-processing is implemented inside the camera simulation board. Due to the limited resources inside the board, image post-processing is subject to certain limitations.

[0004] Therefore, how to enrich the image post-processing effects has become a problem that needs to be solved urgently in this field. Summary of the invention

[0005] The present application provides a method and system for injecting a simulated video, the purpose of which is to enrich the image post-processing effect.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A simulation video injection system, the injection system comprising: a simulation video rendering workstation, a PCIe adapter board, a CPCIe adapter board, a CPCIe expansion chassis and a video simulation board;

[0008] The PCIe adapter board is connected to the simulation video rendering workstation; the simulation video rendering workstation is used to store image data into a shared memory, and the PCIe adapter board is used to transmit the image data;

[0009] The PCIe adapter board is connected to the CPCIe adapter board; the CPCIe adapter board is used to transmit the image data;

[0010] The CPCIe adapter board is arranged inside the CPCIe extension chassis, and the CPCIe adapter board is provided with a plurality of CPCIe slots;

[0011] The video emulation board is arranged in the CPCIe slot of the CPCIe extension chassis; the video emulation board is used to inject the image data into the controller;

[0012] The video emulation board is connected to the controller.

[0013] Optionally, the PCIe adapter board is connected to a PCIe slot of the simulation video rendering workstation; wherein, the PCIe slot of the simulation video rendering workstation complies with the PCIe3.0 standard, and the PCIe slot has at least 16 channels.

[0014] Optionally, the simulation video rendering workstation is connected to a graphics card.

[0015] Optionally, the simulation video rendering workstation includes at least scene simulation software, RTSPU software and a buffer pool; the scene simulation software is used to perform image preprocessing on the image data, and output the preprocessed image data and / or the image data to the display; the RTSPU software is used to obtain the image data from the shared memory and perform image preprocessing on the image data; the buffer pool is used to store image data.

[0016] A method for injecting a simulated video, applied to the above-mentioned system for injecting a simulated video, comprises:

[0017] Periodically obtaining the latest image data from the shared memory through the RTSPU software;

[0018] Storing the latest image data in a buffer pool;

[0019] After receiving the trigger signal sent by the controller, searching the buffer pool for the latest image data with the latest storage time and marking it as the target image data;

[0020] Sending the target image data to the video simulation board through the PCIe adapter board and the CPCIe adapter board;

[0021] After receiving the target image data, the target image data is sent to the controller through the video simulation board.

[0022] Optionally, after periodically acquiring the image data from the shared memory through the RTSPU software, the method further includes:

[0023] Sending the latest image data to the video simulation board through the PCIe adapter board and the CPCIe adapter board;

[0024] After receiving the trigger signal sent by the controller, the latest image data is sent to the controller through the video simulation board.

[0025] Optionally, after receiving the trigger signal sent by the controller, sending the latest image data to the controller through the video simulation board, the method further includes:

[0026] After the video simulation board has finished sending the latest image data, the RTSPU software is used to obtain the latest image data from the shared memory;

[0027] The latest current image data is updated to the video simulation board.

[0028] Optionally, storing the latest image data in a buffer pool includes:

[0029] For each buffer in the buffer pool, detecting whether there is image data in the buffer;

[0030] If the image data exists in the buffer, acquiring the storage time of the image data in the buffer;

[0031] Updating the image data with the earliest storage time to the latest image data;

[0032] If the image data does not exist in the buffer, the latest image data is stored in the buffer.

[0033] Optionally, after receiving the trigger signal sent by the controller, searching the buffer pool for the latest image data with the latest storage time and marking it as the target image data includes:

[0034] After receiving the trigger signal sent by the controller, the storage time of the latest image data in each buffer zone in the buffer pool is obtained;

[0035] Detecting whether the latest image data with the latest storage time meets the preset requirement; the preset requirement is that the latest image data is complete image data;

[0036] If the latest image data with the latest storage time meets the preset requirement, marking the latest image data with the latest storage time as the target image data;

[0037] If the latest image data with the latest storage time does not meet the preset requirements, the latest image data with the latest storage time is selected from other buffers and marked as the target image data; the other buffers are buffers other than the buffers to which the latest image data that does not meet the preset requirements belongs.

[0038] Optionally, before periodically acquiring the latest image data from the shared memory through the RTSPU software, the method further includes:

[0039] Acquire the latest image data from the image database through the scene simulation software, and store the latest image data in the shared memory;

[0040] When the storage of the latest image data is completed, the latest image data is sent to the display.

[0041] The technical solution provided by the present application, the injection system includes: a simulation video rendering workstation, a PCIe adapter board, a CPCIe adapter board, a CPCIe extension chassis and a video simulation board; the PCIe adapter board is connected to the simulation video rendering workstation; the simulation video rendering workstation is used to store image data in a shared memory, and the PCIe adapter board is used to transmit image data; the PCIe adapter board is connected to the CPCIe adapter board; the CPCIe adapter board is used to transmit image data; the CPCIe adapter board is arranged inside the CPCIe extension chassis to expand the PCIe slot of the CPCIe extension chassis into multiple CPCIe slots; the video simulation board is arranged in the CPCIe slot of the CPCIe extension chassis; the video simulation board is used to inject image data into a controller; the video simulation board is connected to the controller. The image data is transmitted to the video simulation board through the PCIe adapter board and the CPCIe adapter board, and then the image data is injected into the controller, and the image is processed by the graphics card, so that a richer image post-processing effect can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of the architecture of a simulation video injection system provided in an embodiment of the present application;

[0044] Figure 2 A flowchart of a simulation video injection method provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of content displayed on a display provided in an embodiment of the present application;

[0046] Figure 4 A flowchart of another method for injecting simulated video provided in an embodiment of the present application;

[0047] Figure 5 A flowchart of a method for storing the latest image data provided in an embodiment of the present application;

[0048] Figure 6 A flowchart of a method for acquiring the latest image data provided in an embodiment of the present application;

[0049] Figure 7 A schematic diagram of data transmission provided in an embodiment of the present application;

[0050] Figure 8 A schematic diagram of another data transmission provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0053] like Figure 1 As shown, it is a schematic diagram of the architecture of a simulation video injection system provided in an embodiment of the present application, and the injection system includes: a simulation video rendering workstation 11, a PCIe adapter board 12, a CPCIe adapter board 13, a CPCIe expansion chassis 14 and a video simulation board 15.

[0054] The PCIe adapter board 12 is connected to the simulation video rendering workstation 11 .

[0055] The simulation video rendering workstation 11 is used to store image data in a shared memory, and the PCIe adapter board 12 is used to transmit image data.

[0056] It should be noted that the PCIe adapter board 12 is connected to the PCIe slot of the simulation video rendering workstation 11 .

[0057] Specifically, the PCIe slot of the simulation video rendering workstation 11 complies with the PCIe 3.0 standard, and the PCIe slot has at least 16 channels.

[0058] It should be emphasized that the simulation video rendering workstation 11 is connected to the graphics card 16 .

[0059] Specifically, the simulation video rendering workstation 11 at least includes scene simulation software, RTSPU software and a buffer pool.

[0060] Among them, the scene simulation software is used to preprocess the image data and output the preprocessed image data and / or image data to the display, the RTSPU software is used to obtain image data from the shared memory and preprocess the image data, and the buffer pool is used to store image data.

[0061] Optionally, the buffer pool includes but is not limited to: a buffer pool.

[0062] It is understandable that after the scene simulation software stores the image data in the shared memory, the RTSPU software can obtain the image data from the shared memory and store the image data in the buffer pool so as to subsequently obtain complete and stable image data from the buffer pool.

[0063] It should be noted that image preprocessing includes but is not limited to: converting the pixel format of image data (i.e., direct conversion of color space such as RGB / YUV / HSI), adjusting the gain of the color channel of the image data (for example, in the RGB color space domain, increasing the gain of Red to make the image content reddish, etc.), mosaicking part of the image data, and adding layers to the image data (for example, adding a rain and fog layer effect to the image data).

[0064] It should be noted that the image data is processed by the graphics card 16 and then stored in the shared memory by the scene simulation software.

[0065] It should be emphasized that the unoccupied HDMI / DP port of the graphics card 16 is connected to the monitor, and the status of the image data injected into the controller is monitored in real time through the monitor (for example, whether the rendering frame rate meets the requirements, whether there are any abnormalities in the rendered image, and whether the current rendering scene is consistent with the controller algorithm recognition result).

[0066] The PCIe adapter board 12 is connected to the CPCIe adapter board 13 .

[0067] The CPCIe adapter board 13 is used to transmit image data.

[0068] Specifically, the PCIe adapter board 12 is connected to the CPCIe adapter board 13 via a cable.

[0069] It is understandable that, after the RTSPU software can obtain the image data from the shared memory, the image data can be transmitted through the PCIe adapter board 12 and the CPCIe adapter board 13.

[0070] The CPCIe adapter board 13 is disposed inside the CPCIe extension chassis 14 , and the CPCIe adapter board 13 is provided with a plurality of CPCIe slots.

[0071] It should be noted that the CPCIe adapter board 13 is arranged inside the CPCIe extension chassis 14, that is, the CPCIe adapter board is inserted into the CPCIe extension chassis 14. Since the CPCIe adapter board 13 is provided with multiple CPCIe slots, a high-bandwidth PCIe slot can be expanded into multiple low-bandwidth CPCIe slots, so that subsequent video simulation boards can be inserted into the low-bandwidth CPCIe slots.

[0072] It can be understood that the CPCIe adapter board 13 is arranged inside the CPCIe extension chassis 14, and through the chip on the extension chassis (such as a PCIe switch chip), a high-bandwidth PCIe slot is expanded into multiple low-bandwidth CPCIe slots.

[0073] The video emulation board 15 is disposed in a CPCIe slot of the CPCIe extension chassis 14 .

[0074] The video simulation board 15 is used to inject image data into the controller 17 .

[0075] It can be understood that the video emulation board 15 is arranged in the CPCIe slot of the CPCIe extension chassis 14 , that is, the video emulation board 15 is inserted into the CPCIe slot of the extension chassis 14 .

[0076] Optionally, the controller 17 includes but is not limited to: a domain controller to be tested.

[0077] Optionally, the video simulation board 15 includes but is not limited to: a camera video simulation board.

[0078] The video emulation board 15 is connected to the controller 17 .

[0079] Specifically, the video simulation board 15 is connected to the module interface of the controller 17 via a coaxial line.

[0080] It is understandable that the video simulation board 15 transmits the image data (ie, the serialized simulation camera information) to the controller 17 via the coaxial line.

[0081] To summarize, the image data is transmitted to the video emulation board through the PCIe adapter board and the CPCIe adapter board, and then injected into the controller through the video emulation board. Since the video emulation board does not perform image post-processing, the image is processed by the graphics card, and there is no limited internal resources of the video emulation board, thereby achieving richer image post-processing effects.

[0082] Corresponding to the injection system of a simulation video provided by the above embodiment of the present invention, see Figure 2 , shows a flow chart of a simulation video injection method provided by an embodiment of the present invention, the method comprising:

[0083] S201: Periodically obtain the latest image data from the shared memory through the RTSPU software.

[0084] The latest image data indicates the latest image data stored in the shared memory.

[0085] Optionally, the latest image data may be periodically obtained from the shared memory through the RTSPU software. Specifically, the latest image data may be obtained from the shared memory through the RTSPU software every one minute or every ten minutes.

[0086] It should be noted that RTSPU software generally refers to client software that supports the Real-Time Streaming Protocol (RTSP). RTSP is a network protocol for real-time data transmission, and is generally used to transmit multimedia data streams such as audio and video on the network.

[0087] It is understandable that the latest image data is periodically obtained from the shared memory through the RTSPU software to ensure that the latest image data sent subsequently is real-time.

[0088] Optionally, before step S201, in order to monitor the currently injected image data in real time, the latest image data needs to be sent to a display and displayed on the display. Therefore, another embodiment of the present application provides a method for displaying image data, including:

[0089] The latest image data is obtained from the image database through the scene simulation software, and the latest image data is stored in the shared memory.

[0090] It is understandable that in order for the RTSPU software to obtain the latest image data currently stored from the shared memory, it is necessary to obtain the latest image data from the image database in real time through the scene simulation software and store the latest image data obtained in real time in the shared memory.

[0091] When the latest image data storage is completed, the latest image data is sent to the display.

[0092] It should be noted that by sending the latest image data to the display, the image data currently injected into the controller can be viewed in real time on the display, so as to promptly detect whether there are problems with the image data and solve the problems in a timely manner. Figure 3 .

[0093] Optionally, after step S201, the latest image data may be directly sent to the video simulation board, so that the simulation video board injects the latest image data into the controller. By directly sending the latest image data, the delay of transmission and processing can be reduced, thereby improving the real-time performance. Therefore, another simulation video injection method is provided in another embodiment of the present application, such as Figure 4 As shown, the following steps are included:

[0094] S401: Send the latest image data to the video simulation board through the PCIe adapter board and the CPCIe adapter board.

[0095] It is understandable that since the PCIe adapter board and CPCIe adapter board have the characteristics of high bandwidth and low latency, transmitting image data through the PCIe adapter board and CPCIe adapter board can achieve real-time processing, ensuring that the video simulation board can obtain and process the latest image data in a timely manner.

[0096] S402: After receiving the trigger signal sent by the controller, the latest image data is sent to the controller through the video simulation board.

[0097] The trigger information includes but is not limited to: a trigger signal (usually used to trigger image capture or other related operations).

[0098] It can be understood that when the video simulation board receives the trigger signal sent by the controller, the latest image data is sent to the controller, and the injection of the simulation video is completed.

[0099] Optionally, after step S302, in order to ensure that the video simulation board can obtain and process the latest image data in time to maintain the real-time and accuracy of the image display, a method for updating image data is provided in another embodiment of the present application, including:

[0100] When the video simulation board has finished sending the latest image data, the RTSPU software obtains the latest image data from the shared memory.

[0101] It is understandable that the scene simulation software updates the image data in the shared memory in real time, so the image data obtained from the shared memory by the RTSPU software is the latest stored image data.

[0102] Update the latest image data to the video simulation board.

[0103] It can be understood that the specific implementation process of updating the current latest image data to the video simulation board is: the current latest image data is sent to the video simulation board through the PCIe adapter board and the CPCIe adapter board, so that the video simulation board stores the current latest image data.

[0104] S202: Store the latest image data in the buffer pool.

[0105] It should be noted that since the scene simulation software renders images at different frame rates depending on the complexity of the scene, the frame rate of the simulation data source fluctuates. Therefore, the frame rate of the image data stored in the shared memory by the scene simulation software also fluctuates, and the frame rate of obtaining the latest image data from the shared memory through the RTSPU software also fluctuates.

[0106] The trigger signal frame rate sent by the controller to the video simulation board is usually relatively stable, but there will also be occasional fluctuations. In order to ensure the integrity and stability of the image data received by the controller, the image data is stored in the buffer pool to ensure that the controller receives complete image data.

[0107] Specifically, assuming that the frame rate of the controller camera module is 30FPS, the frame rate rendered by the scene simulation software fluctuates between 24 and 60FPS. Due to the existence of the buffer pool, when the frame rate fluctuation is greater than the 30FPS of the controller, the function implemented by the RTSPU software is similar to the downsampling function, sampling the 30 frames of images required by the controller from the frame images rendered in the current 1s; when the frame rate fluctuation is less than the 30FPS of the controller, the RTSPU software performs a similar interpolation function based on the existing image content, and interpolates the same image frame content at the previous moment from the image frame rendered in the current 1s, thereby meeting the controller's 30FPS requirement.

[0108] Optionally, in another embodiment of the application, the specific implementation of step S202 is as follows: Figure 5 As shown, the following steps are included:

[0109] S501: For each buffer in the buffer pool, check whether there is image data in the buffer.

[0110] If the image data exists in the buffer, step S502 is executed; if the image data does not exist in the buffer, step S504 is executed.

[0111] Among them, one buffer stores one image data.

[0112] Specifically, assuming that there are three buffers in the buffer pool, each buffer contains image data. For the three buffers in the buffer pool, it is detected whether there is image data in the buffer. Obviously, there is image data in the buffer, so S502 is continued to be executed.

[0113] Specifically, assuming that there are three buffers in the buffer pool, namely the first buffer, the second buffer and the third buffer, there is image data in the first buffer and the second buffer, but there is no image data in the third buffer, for the three buffers in the buffer pool, check whether there is image data in the buffer. Obviously, there is no image data in the third buffer, so continue to execute step S504.

[0114] S502: Obtain the storage time of the image data in the buffer.

[0115] It should be noted that the scene simulation software stores image data in each buffer at different times. Therefore, the storage time of the image data in each buffer can be obtained to facilitate the subsequent storage of new image data.

[0116] S503: Update the image data with the earliest storage time to the latest image data.

[0117] It is understandable that since the earlier the image data is stored, the less real-time it is, in order to ensure the real-time nature of the data in the buffer pool, the image data with the earliest storage time needs to be updated to the latest image data, that is, the image data with the earliest storage time needs to be replaced with the latest image data.

[0118] Specifically, there are three image data, which are stored in three buffers respectively. The storage time of the first image data in the first buffer is 11:30, the storage time of the second image data in the second buffer is 11:40, and the storage time of the third image data in the third buffer is 11:50. The image data with the earliest storage time is updated to the latest image data, that is, the first image data in the first buffer is replaced by the latest image data.

[0119] S504: Store the latest image data in the buffer.

[0120] It is understandable that if there is no image data in the buffer, it means that the image data does not need to be replaced at this time, and the latest image data can be stored in the buffer.

[0121] S203: After receiving the trigger signal sent by the controller, searching the buffer pool for the latest image data with the latest storage time, and marking it as the target image data.

[0122] It is understandable that after receiving the trigger signal sent by the controller, the latest image data with the latest storage time is searched from the buffer pool, that is, the latest image data currently stored is searched from the buffer pool, and the latest image data currently stored is identified as the target image data.

[0123] Optionally, the video simulation board may periodically and actively search the buffer pool for the latest image data with the latest storage time.

[0124] Optionally, in another embodiment of the application, the specific implementation of step S203 is as follows: Figure 6 As shown, the following steps are included:

[0125] S601: After receiving a trigger signal sent by the controller, the storage time of the latest image data in each buffer zone in the buffer pool is obtained.

[0126] Specifically, assume that there are three buffers in the buffer pool, namely the first buffer, the second buffer and the third buffer, the storage time of the latest image data in the first buffer is 11:20, the storage time of the latest image data in the second buffer is 11:10, and the storage time of the latest image data in the third buffer is 11:40.

[0127] S602: Detect whether the latest image data with the latest storage time meets the preset requirements.

[0128] If the latest image data with the latest storage time meets the preset requirement, step S603 is executed; if the latest image data with the latest storage time does not meet the preset requirement, step S604 is executed.

[0129] The preset requirement is that the latest image data is complete image data.

[0130] It should be noted that if the image video is being updated in the buffer (for example, the image data with the earliest storage time is updated to the latest image data), then the latest image video is not complete image data at this time.

[0131] Specifically, assuming that the storage time of the latest image data in the first buffer is 11:20, the storage time of the latest image data in the second buffer is 11:10, and the storage time of the latest image data in the third buffer is 11:40, and the latest image data in the third buffer is complete image data, check whether the latest image data in the third buffer meets the preset requirements. Obviously, the latest image data in the third buffer meets the preset requirements. Therefore, continue to execute step S603.

[0132] S603: Identify the latest image data with the latest storage time as the target image data.

[0133] S604: Select the latest image data with the latest storage time from other buffers and mark it as the target image data.

[0134] Among them, the other buffers are buffers other than the buffer to which the latest image data that does not meet the preset requirements belongs.

[0135] Specifically, assuming that the storage time of the latest image data in the first buffer is 11:20, the storage time of the latest image data in the second buffer is 11:10, and the storage time of the latest image data in the third buffer is 11:40, and the latest image data in the third buffer is not complete image data, then it is necessary to select the latest image data with the latest storage time from the first buffer and the second buffer: the latest image data in the first buffer, and identify the latest image data in the first buffer as the target image data.

[0136] S204: Send the target image data to the video simulation board through the PCIe adapter board and the CPCIe adapter board.

[0137] It should be noted that the specific implementation of step S204 may refer to step S301 accordingly, and will not be repeated here.

[0138] S205: After receiving the target image data, the target image data is sent to the controller via the video simulation board.

[0139] It is understandable that after receiving the target image data, the target image data is sent to the controller through the video simulation board, thereby completing the injection of the simulated video into the controller.

[0140] Combination Figure 1 For the contents shown, see Figure 7 A schematic diagram of data transmission is shown, where the scene simulation software updates the image content (i.e., the latest image data) to the shared memory, sends the latest image data to the graphics card through the output port in the simulation video rendering workstation, and sends the latest image data to the display through the HDMI / DP interface of the graphics card. The latest image data is obtained from the shared memory through the RTSPU software, and the latest image data is sent to the video simulation board (i.e., the camera simulation board) through the PCIe adapter board and the CPCIe adapter board. The video simulation board transmits the latest image data (i.e., the serialized camera information) to the controller (i.e., the domain controller to be tested) through the coaxial line.

[0141] Combination Figure 1 For the contents shown, see Figure 8,The scene simulation software stores the latest image data in the shared memory, obtains the latest image data from the shared memory through the RTSPU software, stores the latest image data in the buffer pool, and when the trigger signal sent by the controller is received, the latest image data with the latest storage time and meeting the preset requirements is obtained, and the latest image data is sent to the controller.

[0142] To summarize, by storing the latest image data in the buffer pool, when the trigger signal sent by the controller is received, the latest image data with the latest storage time is searched from the buffer pool, and the latest image data with the latest storage time is injected into the controller, so that the latest image data injected into the controller is complete and real-time, so that the controller can make more accurate decisions based on the accurate latest image data.

[0143] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0144] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0145] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A simulation video injection system, characterized in that: The injection system includes: a simulation video rendering workstation, a PCIe adapter board, a CPCIe adapter board, a CPCIe expansion chassis and a video simulation board; The PCIe adapter board is connected to the simulation video rendering workstation; the simulation video rendering workstation is used to store image data into a shared memory, and the PCIe adapter board is used to transmit the image data; The PCIe adapter board is connected to the CPCIe adapter board; the CPCIe adapter board is used to transmit the image data; The CPCIe adapter board is arranged inside the CPCIe extension chassis, and the CPCIe adapter board is provided with a plurality of CPCIe slots; The video emulation board is arranged in the CPCIe slot of the CPCIe extension chassis; the video emulation board is used to inject the image data into the controller; The video emulation board is connected to the controller.

2. The system according to claim 1, characterized in that The PCIe adapter board is connected to the PCIe slot of the simulation video rendering workstation; wherein, the PCIe slot of the simulation video rendering workstation complies with the PCIe3.0 standard, and the PCIe slot has at least 16 channels.

3. The system according to claim 1, characterized in that The simulation video rendering workstation is connected to a graphics card.

4. The system according to claim 1, characterized in that The simulation video rendering workstation includes at least scene simulation software, RTSPU software and a buffer pool; the scene simulation software is used to perform image preprocessing on the image data, and output the preprocessed image data and / or the image data to the display; the RTSPU software is used to obtain the image data from the shared memory and perform image preprocessing on the image data; the buffer pool is used to store image data.

5. A method for injecting a simulation video, characterized in that: The injection system for the simulation video according to any one of claims 1 to 4 comprises: Periodically obtaining the latest image data from the shared memory through the RTSPU software; Storing the latest image data in a buffer pool; After receiving the trigger signal sent by the controller, searching the buffer pool for the latest image data with the latest storage time and marking it as the target image data; Sending the target image data to the video simulation board through the PCIe adapter board and the CPCIe adapter board; After receiving the target image data, the target image data is sent to the controller through the video simulation board.

6. The method according to claim 5, characterized in that After the image data is periodically obtained from the shared memory by the RTSPU software, the method further includes: Sending the latest image data to the video simulation board through the PCIe adapter board and the CPCIe adapter board; After receiving the trigger signal sent by the controller, the latest image data is sent to the controller through the video simulation board.

7. The method according to claim 6, characterized in that After receiving the trigger signal sent by the controller, the latest image data is sent to the controller through the video simulation board, and further includes: After the video simulation board has finished sending the latest image data, the RTSPU software is used to obtain the latest image data from the shared memory; The latest current image data is updated to the video simulation board.

8. The method according to claim 5, characterized in that The storing the latest image data in the buffer pool comprises: For each buffer in the buffer pool, detecting whether there is image data in the buffer; If the image data exists in the buffer, acquiring the storage time of the image data in the buffer; Updating the image data with the earliest storage time to the latest image data; If the image data does not exist in the buffer, the latest image data is stored in the buffer.

9. The method according to claim 5, characterized in that After receiving the trigger signal sent by the controller, searching the buffer pool for the latest image data with the latest storage time and marking it as the target image data, including: After receiving the trigger signal sent by the controller, the storage time of the latest image data in each buffer zone in the buffer pool is obtained; Detecting whether the latest image data with the latest storage time meets the preset requirement; the preset requirement is that the latest image data is complete image data; If the latest image data with the latest storage time meets the preset requirement, marking the latest image data with the latest storage time as the target image data; If the latest image data with the latest storage time does not meet the preset requirements, the latest image data with the latest storage time is selected from other buffers and marked as the target image data; the other buffers are buffers other than the buffers to which the latest image data that does not meet the preset requirements belongs.

10. The method according to claim 5, characterized in that Before the periodic acquisition of the latest image data from the shared memory by the RTSPU software, the method further includes: Acquire the latest image data from the image database through the scene simulation software, and store the latest image data in the shared memory; When the storage of the latest image data is completed, the latest image data is sent to the display.

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