Vehicle streaming media transmission method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle streaming media transmission method and device, electronic equipment and a storage medium, and the method can comprise the steps that a data processing device receives streaming media data sent by a vehicle specification image collection device, and the data processing device communicates with the vehicle specification image collection device based on a data distribution service DDS protocol; the data processing device encodes the streaming media data to generate streaming media encoded data; and the data processing device transmits the streaming media coded data to the vehicle-mounted display device. According to the embodiment of the invention, the streaming media data transmission reliability can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle communication technology, and in particular to a vehicle streaming media transmission method, device, electronic device and storage medium. Background Art

[0002] Car streaming media is also called streaming media. The current in-vehicle streaming technology can collect streaming data in real time through the acquisition device and present it on the car display device (such as the central display screen). If the amount of streaming data is too large, it is easy to have transmission jams or packet loss, and the reliability of streaming data transmission is low. Summary of the invention

[0003] The embodiments of the present application provide a method, device, electronic device and storage medium for transmitting streaming media in a vehicle, which can improve the reliability of streaming media data transmission.

[0004] A first aspect of an embodiment of the present application provides a method for transmitting streaming media in a vehicle, comprising:

[0005] The data distribution service data processing device receives the streaming media data sent by the vehicle-regulating image acquisition device; the data processing device communicates with the vehicle-regulating image acquisition device based on the data distribution service DDS protocol;

[0006] The data processing device encodes the streaming media data to generate streaming media encoded data;

[0007] The data processing device transmits the streaming media encoded data to the vehicle-mounted display device.

[0008] In a possible implementation manner, the data processing device receives streaming media data sent by the vehicle-regulatory image acquisition device, including:

[0009] When the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task, and the message carries the streaming media data.

[0010] In a possible implementation, when the subject of the publishing task created by the vehicle-regulatory image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-regulatory image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives, through the subscription task, a message published by the vehicle-regulatory image acquisition device through the publishing task, including:

[0011] When the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, and the service quality of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol matches the service quality of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task.

[0012] In a possible implementation, the quality of service is configured as a reliable mode or a best-effort mode; and the quality of data transmission between the data processing device and the vehicle-regulatory image acquisition device in the reliable mode is greater than that in the best-effort mode.

[0013] In a possible implementation, in a vehicle parking scenario and a vehicle starting scenario, the service quality is configured as the reliable mode, and in a vehicle automatic driving scenario, the service quality is configured as the best effort mode.

[0014] In a possible implementation, when the data transmission frequency of the vehicle-standard image acquisition device is greater than a set threshold, the service quality is configured as the best-effort mode; and when the data transmission frequency of the vehicle-standard image acquisition device is less than the set threshold, the service quality is configured as the reliable mode.

[0015] In a possible implementation, the transmission mode of the DDS protocol is configured as a shared memory mode or a network mode, and the network mode includes a transmission control protocol TCP or a user datagram protocol UDP.

[0016] In a possible implementation manner, the data processing device transmits the streaming media encoded data to the vehicle-mounted display device, including:

[0017] The data processing device uses the real-time message transmission protocol RTMP to push the streaming media encoded data to the vehicle-mounted display device.

[0018] In a possible implementation, the streaming media data is synthesized based on at least two video streams captured by the vehicle-regulatory image acquisition device.

[0019] In a possible implementation, the vehicle-standard image acquisition device includes at least two cameras, and the at least two cameras are used to acquire at least two video frames. The vehicle-standard image acquisition device is used to render the at least two video frames into one frame of streaming media data.

[0020] A second aspect of an embodiment of the present application provides a data processing device, including:

[0021] A receiving unit, used to receive streaming media data sent by a vehicle-regulatory image acquisition device; the data processing device communicates with the vehicle-regulatory image acquisition device based on a data distribution service DDS protocol;

[0022] An encoding unit, used for encoding the streaming media data to generate streaming media encoded data;

[0023] The transmission unit is used to transmit the streaming media encoded data to the vehicle-mounted display device.

[0024] A third aspect of an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the step instructions in the first aspect of the embodiment of the present application.

[0025] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiments of the present application.

[0026] The fifth aspect of the embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product can be a software installation package.

[0027] In the embodiment of the present application, the data processing device receives the streaming media data sent by the vehicle-regulatory image acquisition device, the data processing device communicates with the vehicle-regulatory image acquisition device based on the data distribution service DDS protocol, the data processing device encodes the streaming media data, generates streaming media encoded data, and transmits the streaming media encoded data to the vehicle-mounted display device. In the embodiment of the present application, a data processing device is added between the vehicle-regulatory image acquisition device and the vehicle-mounted display device, and the streaming media data sent by the vehicle-regulatory image acquisition device is encoded and processed by the data processing device and then transmitted to the vehicle-mounted display device. Compared with encoding the streaming media data by the vehicle-regulatory image acquisition device, the amount of data transmitted to the vehicle-mounted display device can be reduced without increasing the complexity of the vehicle-regulatory image acquisition device. The data processing device communicates with the vehicle-regulatory image acquisition device based on the DDS protocol, which can improve the real-time and reliability of streaming media data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 It is a schematic diagram of the system architecture of a streaming media transmission system provided in an embodiment of the present application;

[0030] Figure 2 It is a flow chart of a method for transmitting streaming media in a vehicle provided in an embodiment of the present application;

[0031] Figure 3 It is a flowchart of another method for transmitting streaming media in a vehicle provided in an embodiment of the present application;

[0032] Figure 4 It is a flowchart of another method for transmitting streaming media in a vehicle provided in an embodiment of the present application;

[0033] Figure 5 It is a flowchart of another method for transmitting streaming media in a vehicle provided in an embodiment of the present application;

[0034] Figure 6 is a structural schematic diagram of a data processing device provided in an embodiment of the present application;

[0035] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] 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 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.

[0037] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0038] Reference to "embodiments" herein means that a particular feature, result, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] The embodiments of the present application provide a method, device, electronic device and storage medium for transmitting streaming media in a vehicle, which can improve the reliability of streaming media data transmission.

[0040] The vehicle-mounted streaming media technology collects streaming media data (for example, video streaming data) through a vehicle-regulatory image acquisition device. The central processing unit is connected to the vehicle-regulatory image acquisition device to control the vehicle-regulatory image acquisition device to collect streaming media data in real time. The vehicle-mounted display device is connected to the central processing unit, and the vehicle-regulatory image acquisition device transmits the collected streaming media data to the display for display. Among them, the vehicle-regulatory image acquisition device directly transmits the collected streaming media data to the display without processing the streaming media data. The amount of data transmitted is large, and the network load requirements are high, which is prone to freezes or packet loss. After obtaining the information, the vehicle-mounted display device needs to process a large amount of data, which requires a large amount of calculation.

[0041] See also Figure 1 , Figure 1 Schematic diagram of the system architecture of a streaming media transmission system provided by an embodiment of the present application. Figure 1 As shown, the system architecture may include: a vehicle-regulating image acquisition device 110 , a data processing device 120 , and a vehicle-mounted display device 130 .

[0042] Among them, the data processing device 120 communicates with the vehicle-regulatory image acquisition device 110 based on the data distribution service (DDS) protocol. A DDS application may be installed on the data processing device 120. The DDS application is an application that uses the data distribution service (DDS) for data transmission. The DDS application can run on an electronic device (for example, a vehicle computer or a vehicle-mounted tablet computer). The data processing device 120 can receive data sent by the vehicle-regulatory image acquisition device 110 through the DDS application, can encode the data sent by the vehicle-regulatory image acquisition device 110, and send the encoded data to the vehicle-mounted display device 130.

[0043] The vehicle-regulatory image acquisition device 110 is a device that includes both software functions and hardware. Its hardware may include at least one camera, and its software functions may include: controlling at least one camera to acquire data, and processing the data acquired by at least one camera. The vehicle-regulatory image acquisition device 110 may also include an image sensor.

[0044] The vehicle-mounted display device 130 is a device that includes both software functions and hardware. Its hardware may include a processor and a display screen. Its software functions may include: a function of controlling the display screen to display, and a function of controlling the vehicle-mounted display device 130 to receive data and process data.

[0045] The data distribution service (DDS) protocol is a new generation of distributed real-time communication middleware protocol. DDS has high real-time performance, high reliability, and non-coupling. DDS greatly accelerates and simplifies the development of distributed systems, making it very suitable for the automotive field. It can not only meet the needs of large data transmission in the automotive intelligent driving domain, but also meet the SOA architecture. Module developers only need to simply publish data without worrying about the details of communication, and can pay more attention to the application business itself. In the field of in-vehicle communications, DDS plays an increasingly important role. DDS is data-centric and provides a rich QoS service quality strategy to ensure real-time, efficient and flexible data distribution, and can meet the application requirements of various distributed real-time communications. Autonomous driving is a complex distributed system. Using DDS to integrate a variety of complex sensor information can support the vehicle computer to make correct decisions. The organic combination of DDS and in-vehicle streaming media technology improves the security of the vehicle computer operating system.

[0046] In DDS, users can set the data format, discovery, connection, reliability, protocol, transmission selection, quality of service (QoS), security, etc. In a distributed system based on a DDS network, nodes that join the DDS network (for example, data processing devices, automotive image acquisition devices) can publish the topic of the task they want to publish (or subscribe to the subscription task they want to subscribe to). After the existing nodes on the DDS network hear the task, they compare it with their own publishing or subscription situation. If the publishing and subscription situation of the newly joined node is compatible with their own (for example, one is a publisher and the other is a subscriber), and the topic information is related to themselves, they can actively communicate with the newly joined node and send their own Topic information to the newly joined node. At the same time, the corresponding information of the newly joined node is registered on this node so that a point-to-point connection can be established when there is a communication demand.

[0047] In a distributed system, middleware is a software layer located between the operating system and user applications. It abstracts and encapsulates the resources provided by the operating system and provides a variety of advanced services and functions for applications, such as communication or data sharing. The existence of middleware simplifies the work of application developers, allowing them to focus on the application itself without having to spend too much energy on data transmission between different applications or between different systems.

[0048] The DDS layer itself is independent of the transport, it defines an application programming interface (API) and can run on any transport plug-in that implements the API. In this way, the DDS layer is not limited to a specific transport, and the application can choose the transport that best suits its requirements or create its own transport.

[0049] The vehicle-mounted image acquisition device 110 can send the collected streaming media data to the data processing device via DDS. The data processing device encodes, compresses and packages the received streaming media data and sends it to the vehicle-mounted display device 130.

[0050] In the embodiment of the present application, the data processing device receives the streaming media data sent by the vehicle-regulatory image acquisition device, encodes the streaming media data, generates streaming media encoded data, and transmits the streaming media encoded data to the vehicle-mounted display device. In the embodiment of the present application, a data processing device is added between the vehicle-regulatory image acquisition device and the vehicle-mounted display device, and the streaming media data sent by the vehicle-regulatory image acquisition device is encoded and processed by the data processing device and then transmitted to the vehicle-mounted display device. Compared with encoding the streaming media data by the vehicle-regulatory image acquisition device, the amount of data transmitted to the vehicle-mounted display device can be reduced without increasing the complexity of the vehicle-regulatory image acquisition device. The data processing device and the vehicle-regulatory image acquisition device communicate based on the DDS protocol, which can improve the real-time and reliability of streaming media data transmission.

[0051] See also Figure 2 , Figure 2 is a flow chart of a method for transmitting streaming media in a vehicle provided in an embodiment of the present application. The streaming media transmission method can be applied to Figure 1 The system architecture is shown in Figure 1. Figure 2 As shown, the streaming media transmission method may include the following steps.

[0052] 201, a data processing device receives streaming media data sent by a vehicle-regulating image acquisition device, and the data processing device communicates with the vehicle-regulating image acquisition device based on a data distribution service DDS protocol.

[0053] In the embodiment of the present application, the data processing device and the vehicle-regulatory image acquisition device can communicate via DDS. The vehicle-regulatory image acquisition device can transmit the collected streaming media data to the data processing device via DDS. The streaming media data can include at least one of video streaming data and picture streaming data.

[0054] The video stream data of the present application is a digital signal. The vehicle-regulatory image acquisition device can convert the acquired analog video data into a digital signal.

[0055] 202. A data processing device encodes streaming media data to generate streaming media encoded data.

[0056] 203, the data processing device transmits the streaming media encoded data to the vehicle-mounted display device.

[0057] In the embodiment of the present application, the data processing device encodes the streaming media data and then transmits it to the vehicle-mounted display device, which can reduce the amount of data transmitted to the vehicle-mounted display device, thereby improving the transmission efficiency of the streaming media.

[0058] The data processing device may use a video encoding algorithm to encode the streaming media data. For example, the data processing device may use an H264 encoding algorithm to encode the streaming media data.

[0059] The H264 encoding algorithm can provide a higher data compression ratio while ensuring image quality. Using the H264 encoding algorithm to compress and encode the collected streaming media data can greatly reduce the amount of transmitted data while ensuring image quality.

[0060] In an embodiment of the present application, a data processing device is added between the vehicle-regulatory image acquisition device and the vehicle-mounted display device. The streaming media data sent by the vehicle-regulatory image acquisition device is encoded and processed by the data processing device and then transmitted to the vehicle-mounted display device. Compared with encoding the streaming media data by the vehicle-regulatory image acquisition device, the amount of data transmitted to the vehicle-mounted display device can be reduced without increasing the complexity of the vehicle-regulatory image acquisition device. The data processing device and the vehicle-regulatory image acquisition device communicate based on the DDS protocol, which can improve the real-time and reliability of streaming media data transmission.

[0061] Optionally, in step 201, the data processing device receives the streaming media data sent by the vehicle-regulating image acquisition device, which may specifically include the following step (11).

[0062] (11) When the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task, and the message carries the streaming media data.

[0063] In an embodiment of the present application, in a DDS network, a vehicle-regulatory image acquisition device can create a publishing task, set the subject of the publishing task, and set the data type of the publishing task. In a DDS network, a data processing device can create a subscription task, set the subject of the subscription task, and set the data type of the subscription task. In a DDS network, since the subject of the publishing task created by the vehicle-regulatory image acquisition device is the same as the subject of the subscription task created by the data processing device, and the data type of the publishing task created by the vehicle-regulatory image acquisition device is the same as the data type of the subscription task created by the data processing device, the node of the vehicle-regulatory image acquisition device and the node of the data processing device can communicate. After the vehicle-regulatory image acquisition device acquires streaming media data, it can create a message and fill the message with the streaming media data. The vehicle-regulatory image acquisition device publishes the message through a publishing task, and the data processing device can receive the message through a subscription task.

[0064] Data types can include floating point, integer, etc.

[0065] In the embodiment of the present application, the compression encoding of the streaming media data is uniformly placed in the data processing device for processing, avoiding the impact on the vehicle-regulatory image acquisition device. The vehicle-regulatory image acquisition device only focuses on information acquisition to ensure the reliability of information acquisition. DDS is used to transmit data between the vehicle-regulatory image acquisition device and the data processing device, so that the vehicle-regulatory image acquisition device and the data processing device can easily communicate and share data. When developing software, using DDS allows software developers to focus on the specific purpose of their application rather than the mechanism for transmitting information between the application and the system, thereby simplifying the development of distributed systems. The compression and streaming of data are both implemented in the data processing device, which reduces the coupling between the vehicle-regulatory image acquisition device and the data processing device, making it easy to transplant and maintain later.

[0066] Optionally, the above step (11) may include the following steps:

[0067] When the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, and the service quality of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol matches the service quality of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task.

[0068] In an embodiment of the present application, in a DDS network, a vehicle-regulatory image acquisition device can create a publishing task, set the subject of the publishing task, set the data type of the publishing task, and set the quality of service (QoS) of the publishing task. In a DDS network, a data processing device can create a subscription task, set the subject of the subscription task, set the data type of the subscription task, and set the quality of service of the subscription task. In a DDS network, since the subject of the publishing task created by the vehicle-regulatory image acquisition device is the same as the subject of the subscription task created by the data processing device, and the data type of the publishing task created by the vehicle-regulatory image acquisition device is the same as the data type of the subscription task created by the data processing device, and the quality of service of the publishing task created by the vehicle-regulatory image acquisition device matches the quality of service of the subscription task created by the data processing device, the node of the vehicle-regulatory image acquisition device and the node of the data processing device can communicate. After the vehicle-regulatory image acquisition device acquires streaming media data, it can create a message and fill the message with the streaming media data. The vehicle-regulatory image acquisition device publishes the message through a publishing task, and the data processing device can receive the message through a subscription task.

[0069] The quality of service can be set as a value or as a mode.

[0070] When the quality of service is set in a numerical value, the quality of service of the publishing task created by the vehicle-regulatory image acquisition device matches the quality of service of the subscription task created by the data processing device, which means that the quality of service of the two is the same, or the quality of service of the two falls into the same quality of service interval. The quality of service interval can be set in advance by the DDS network. For example, the quality of service can be reflected by the length of the set cache queue. The length of the cache queue is positively correlated with the quality of service. The larger the length of the cache queue, the greater the quality of service, and the smaller the length of the cache queue, the smaller the quality of service. The cache queue is a queue used to cache data when transmitting data between the data processing device and the vehicle-regulatory image acquisition device.

[0071] Optionally, the quality of service is configured as a reliable mode or a best-effort mode; the data transmission quality between the data processing device and the vehicle-regulatory image acquisition device in the reliable mode is greater than that in the best-effort mode. Data transmission quality may include data packet loss rate and transmission delay. Among them, the data transmission quality is negatively correlated with the packet loss rate. The lower the packet loss rate, the higher the data transmission quality, and the higher the packet loss rate, the lower the data transmission quality. The data transmission quality is negatively correlated with the transmission delay. The lower the transmission delay, the higher the data transmission quality, and the higher the transmission delay, the lower the data transmission quality.

[0072] In reliable mode, streaming media data can be transmitted from the vehicle-regulating image acquisition device to the data processing device as losslessly as possible. In best-effort mode, streaming media data can be transmitted from the vehicle-regulating image acquisition device to the data processing device as quickly as possible.

[0073] When the quality of service is set in a mode, the quality of service of the publishing task created by the vehicle-regulatory image acquisition device matches the quality of service of the subscription task created by the data processing device, which means that the modes of the quality of service configuration of the two are the same. For example, the quality of service can be configured as a reliable mode (Reliable) or a best-effort mode (Best-effort). If the quality of service of the publishing task is configured as a reliable mode and the quality of service of the subscription task is configured as a reliable mode, the quality of service of the two matches. If the quality of service of the publishing task is configured as a reliable mode and the quality of service of the subscription task is configured as a best-effort mode, the quality of service of the two does not match.

[0074] Wherein, the length of the cache queue between the data processing device and the vehicle-regulatory image acquisition device in the reliable mode is greater than that in the best-effort mode. The length of the cache queue between the data processing device and the vehicle-regulatory image acquisition device in the reliable mode is greater than the length of the cache queue between the data processing device and the vehicle-regulatory image acquisition device in the best-effort mode.

[0075] Among them, in reliable mode, the vehicle image acquisition device retains a copy of the sent data, and when it detects data packet loss, it will resend the data; in best-effort mode, if data packet loss is detected, the data receiving end (data processing device) will ignore it and continue to receive the next data packet. Best-effort mode ensures the overall data distribution efficiency, and reliable mode reduces packet loss and ensures reliable data transmission.

[0076] DDS is data-centric and provides a rich set of QoS strategies to ensure real-time, efficient and flexible data distribution, meeting the application requirements of various distributed real-time communications.

[0077] Optionally, in a vehicle parking scenario or a vehicle startup scenario, the service quality is configured as the reliable mode, and in a vehicle automatic driving scenario, the service quality is configured as the best effort mode.

[0078] In the embodiments of the present application, different service qualities can be configured according to the different scenarios in which the vehicle is located, so as to ensure the quality or efficiency of streaming media transmission. In the vehicle parking scenario or vehicle startup scenario, the service quality is configured as a reliable mode to ensure the quality of streaming media transmission, thereby improving the safety of parking and vehicle startup. In the vehicle autonomous driving scenario, the service quality is configured as a best-effort mode to ensure the efficiency of streaming media transmission. The vehicle computer can analyze the streaming media data transmitted in a timely manner by the vehicle-regulatory image acquisition device, thereby providing the latest collected video stream data for autonomous driving, which is convenient for autonomous driving to quickly make autonomous driving strategies based on the latest collected video stream data, thereby improving the vehicle autonomous driving experience.

[0079] The quality of service (Qos) can control the quality of the transmitted data. For example, if the sender (vehicle image acquisition device) has a lot of data and the receiver (data processing device) does not have time to receive it, the sender can place the data that the receiver does not have time to receive in the cache queue. The length of the cache queue can be set flexibly. If the length of the cache queue is set too large, it will occupy a large amount of memory. If the length of the cache queue is set too small, the receiver will not have time to read it, and the data in the cache queue will be overwritten by the new data from the sender, which will cause data loss. The sender can adjust the quality of service by setting the size of the cache queue.

[0080] The embodiments of the present application can set different service qualities QoS according to different scenarios. For example, in the vehicle parking scenario or vehicle startup scenario, to ensure the reliability of streaming media transmission, the service quality is configured as reliable mode, and the length of the cache queue can be set relatively larger. In the vehicle automatic driving scenario, to ensure the efficiency of streaming media transmission, the service quality is configured as best effort mode, and the length of the cache queue can be set relatively smaller.

[0081] Optionally, when the data sending frequency of the vehicle-standard image acquisition device is greater than a set threshold, the service quality is configured as the best-effort mode; when the data sending frequency of the vehicle-standard image acquisition device is less than the set threshold, the service quality is configured as the reliable mode.

[0082] In the embodiment of the present application, when the data transmission frequency of the vehicle-regulatory image acquisition device is greater than the set threshold, the amount of data sent is large, and the quality of service is configured as the best-effort mode, so that the streaming media data can be transmitted from the vehicle-regulatory image acquisition device to the data processing device as quickly as possible, thereby improving the efficiency of streaming media data transmission. When the data transmission frequency of the vehicle-regulatory image acquisition device is less than the set threshold, the amount of data sent is small, and the quality of service is configured as the reliable mode, so that the streaming media data can be transmitted from the vehicle-regulatory image acquisition device to the data processing device as losslessly as possible, thereby improving the reliability of streaming media data transmission.

[0083] The set threshold value may be set in advance, and the set threshold value may be stored in a memory of the data processing device.

[0084] Optionally, in a scenario where the change in the vehicle's surrounding environment is less than a first threshold, the service quality is configured as the reliable mode; in a scenario where the change in the vehicle's surrounding environment is greater than the first threshold, the service quality is configured as the best effort mode.

[0085] In the embodiment of the present application, the change amount of the vehicle's surrounding environment can be determined by two consecutive frames of images collected by the vehicle-regulatory image acquisition device, wherein the change amount of the vehicle's surrounding environment is positively correlated with the difference between the two consecutive frames of images.

[0086] During the driving process of the vehicle, if the amount of change in the vehicle's surrounding environment is small (the amount of change in the vehicle's surrounding environment is less than the first threshold), the amount of data transmitted by the vehicle-regulated image acquisition device is small, and the quality of service can be configured as a reliable mode, so that the streaming media data can be transmitted from the vehicle-regulated image acquisition device to the data processing device as losslessly as possible, thereby improving the reliability of streaming media data transmission. If the amount of change in the vehicle's surrounding environment is large (the amount of change in the vehicle's surrounding environment is greater than the first threshold), the amount of data transmitted by the vehicle-regulated image acquisition device is large, and the quality of service can be configured as a best-effort mode, so that the streaming media data can be transmitted from the vehicle-regulated image acquisition device to the data processing device as quickly as possible, thereby improving the efficiency of streaming media data transmission.

[0087] The first threshold value may be set in advance, and the first threshold value may be stored in a memory of the data processing device.

[0088] Optionally, the transmission mode of the DDS protocol is configured as a shared memory mode or a network mode, and the network mode includes a transmission control protocol (TCP) or a user datagram protocol (UDP).

[0089] In the embodiment of the present application, the transmission mode of the DDS protocol can be configured in a shared memory mode. When the amount of data to be transmitted is large, the use of the shared memory mode will not bring a large processing pressure to the processor of the data processing device.

[0090] The DDS protocol transmission mode can be configured as shared memory mode or network mode according to application needs. When the amount of data to be transmitted is large, it can be configured as shared memory mode to reduce the processing pressure of the processor. When the amount of data to be transmitted is small, it can be configured as network mode to reduce memory usage.

[0091] in, Figure 2 The streaming media transmission method can be applied to any of the vehicle parking scenarios, vehicle starting scenarios, and vehicle automatic driving scenarios.

[0092] Optionally, in step 203, the data processing device transmits the streaming media encoded data to the vehicle-mounted display device, which may specifically include:

[0093] The data processing device uses the real time messaging protocol (RTMP) to push the streaming media encoded data to the vehicle-mounted display device.

[0094] In the embodiment of the present application, the data processing device can use RTMP to push the streaming media encoded data to the vehicle-mounted display device, and RTMP push streaming can be realized. RTMP push streaming can realize low-latency and stable streaming media transmission, and ensure the reliability of streaming media transmission.

[0095] Optionally, the data processing device transmits the streaming media encoded data to the controller. The controller may be a microcontroller unit (MCU) on the vehicle. The controller may pull and decode the RTMP stream to obtain the streaming media data, and analyze the streaming media data to make an autonomous driving strategy, thereby improving the vehicle's autonomous driving experience.

[0096] Optionally, the streaming media data is synthesized based on at least two video streams captured by the vehicle-regulatory image acquisition device.

[0097] In an embodiment of the present application, the vehicle-regulating image acquisition device can acquire at least two video streams (digital signals) through at least two cameras, and synthesize the at least two video streams into streaming media data.

[0098] Among them, at least two cameras can be installed outside the vehicle to collect video data around the vehicle. For example, the vehicle-regulatory image acquisition device may include four cameras, and the four cameras may be located on the front and rear bumpers and left and right rearview mirrors of the vehicle respectively. The four cameras can collect video data from four different angles at the same time, thereby improving the safety of the vehicle parking process.

[0099] The formats of video data can include avi, mpgz, RGB, YUV and other types.

[0100] The embodiments of the present application can be applied to automatic parking scenarios to ensure the security of the communication functions of the automatic parking scenarios.

[0101] See also Figure 3 , Figure 3 is a flow chart of another vehicle streaming media transmission method provided by an embodiment of the present application. The streaming media transmission method can be applied to Figure 1 The vehicle image acquisition device shown in FIG. Figure 3 As shown, the streaming media transmission method may include the following steps.

[0102] 301, a vehicle-standard image acquisition device acquires images from four cameras and renders the images from the four cameras into a frame of streaming media data.

[0103] 302, the vehicle-regulatory image acquisition device publishes a message through the created publishing task, and the message carries the streaming media data.

[0104] After the vehicle-regulatory image acquisition device acquires images from four cameras, it can render the images acquired by the four cameras into a frame of image-type streaming media data (video image) through the view area function (glViewport) of the open graphics library (OpenGL). After acquiring the streaming media data through the image creation function (cvCreateImage), the streaming media data is put into the created message, and the publisher (publisher) of the vehicle-regulatory image acquisition device that creates the publishing task publishes the message.

[0105] The process of publishing tasks and publishing data created by the vehicle-regulatory image acquisition device is as follows:

[0106] The vehicle-regulatory image acquisition device first creates a publishing task publisher through a publisher creation statement (for example, bclcpp::create_publisher("bp_pic_data",&BpvxDDS_msg_Image_desc)), specifies the topic topic (bp_pic_data) of the publishing task publisher and the data type that can be conveyed (BpvxDDS_msg_Image_desc). Then call the message creation function (for example, create_message) to create the message message, and assign values ​​to fill the message message. Finally, the data is published through the publishing function (publisher.publish(message)). The data filled in the message message is the streaming media data.

[0107] Among them, BpvxDDS_msg_Image_desc is a custom data type name, which can specifically be the type of streaming media data rendered and generated by the vehicle-grade image acquisition device.

[0108] See also Figure 4 , Figure 4 is a flow chart of another vehicle streaming media transmission method provided by an embodiment of the present application. The streaming media transmission method can be applied to Figure 1 The data processing device shown. Figure 4 As shown, the streaming media transmission method may include the following steps.

[0109] 401, the data processing device receives a message published by the vehicle-regulation image acquisition device through a publishing task through a subscription task created by the data processing device, and the message carries streaming media data.

[0110] 402, a data processing device encodes the streaming media data to generate streaming media encoded data.

[0111] 403, the data processing device uses RTMP to push the streaming media encoded data to the vehicle-mounted display device.

[0112] In the embodiment of the present application, the data processing device receives the message published by the vehicle-regulating image acquisition device through the publishing task through DDS subscription, encodes the streaming media data in the message through H264, and pushes the obtained streaming media encoded data out through RTMP.

[0113] The data receiving process of the data processing device is as follows:

[0114] The data processing device first creates a subscription task subscripiton through a subscriber creation statement (for example, bclcpp::create_subscription("bp_pic_data",&BpvxDDS_msg_Image_desc,andle_message_bpvxdds,options)). The topic ("bp_pic_data") and data type (BpvxDDS_msg_Image_desc) of the created subscription task subscripiton are consistent with the topic and data type of the publishing task created by the vehicle-regulatory image acquisition device (sender). When the vehicle-regulatory image acquisition device (sender) has data to send, the data processing device (receiver) can call the callback function (handle_message_bpvxdds) to process the data.

[0115] The data processing device receives the message published by the vehicle-regulatory image acquisition device through the publishing task, obtains the streaming media data carried in the message, calls H264 to encode and compress the streaming media data, and calls RTMP to push the stream.

[0116] Among them, the topic of the subscription task (subscription) is consistent with the topic of the publishing task (publisher), and the data type of Subscription (subscription data type) is consistent with the data type of publisher (publishing data type). DDS consists of the publisher Publisher and the data writer DataWriter on the sending end, and the subscriber Subscriber and the data reader DataReader on the receiving end. Data is identified by the topic, which is a domain segment of a specific type, and each topic is associated with a specific data type. The publisher's behavior is determined by the service quality Qos policy related to the publisher Publisher, the data writer DataWriter and the topic of a specific data source. The subscriber's behavior is determined by the service quality QoS associated with the subscriber Subscriber, the data reader DataReader and the topic of a specific data receiver. When the publisher publisher publishes a message, the subscription task subscription will call the callback function (handle_message_bpvxdds). H264 encoding compression encapsulation and RTMP streaming are performed in the callback function.

[0117] Optionally, you can set options to set policies. For example, you can use options to set whether the subscription task subscripiton obtains data through shared memory and the method of subscripiton data subscription, where the method of subscripiton data subscription can be one of asynchronous, synchronous and non-blocking methods.

[0118] See also Figure 5 , Figure 5 is a flow chart of another vehicle streaming media transmission method provided by an embodiment of the present application. The streaming media transmission method can be applied to Figure 1 The vehicle-mounted display device shown in FIG. Figure 5 As shown, the streaming media transmission method may include the following steps.

[0119] 501, the vehicle-mounted display device uses RTMP to pull streaming media encoded data from the data processing device.

[0120] 502, the vehicle-mounted display device decodes the streaming media encoded data to obtain streaming media data, and plays the streaming media data.

[0121] In the embodiment of the present application, the vehicle-mounted display device can pull the streaming media encoded data through RTMP streaming, and play the streaming media data obtained by decoding. The vehicle-mounted display device can be the central control display screen of the vehicle, or it can be other vehicle-mounted display devices (such as mobile phones, pads or smart watches, etc.) that are in communication connection with the vehicle. The vehicle-mounted display device can use the RTMP protocol to pull the streaming media encoded data from the data processing device, and after decoding the streaming media encoded data, the streaming media data can be obtained and displayed.

[0122] After the vehicle-regulatory image acquisition device collects data, it is directly released through DDS. The vehicle-regulatory image acquisition device is only responsible for collecting image information to ensure the reliability of information collection. Subscribe to the information released by the streaming media through a special data processing device (DDS Bridge). After the information is obtained, it is compressed by H264 encoding and then pushed out through RTMP. The acquisition and encoding of information are all processed by the data processing device, which will not affect the vehicle-regulatory image acquisition device and can effectively compress the data. The amount of data transmitted is greatly reduced while ensuring the quality of the picture.

[0123] The embodiment of the present application can organically combine DDS communication technology and vehicle-mounted streaming media technology and apply them in the automatic parking scenario. The collected streaming media data is sent to the data processing device through DDS, and the data processing device implements the encoding, packaging and streaming of the streaming media data. The reliability of data transmission is improved, and the security of the communication function in the automatic parking scenario is ensured.

[0124] In an embodiment of the present application, a data processing device is added between the vehicle-regulatory image acquisition device and the vehicle-mounted display device. The streaming media data sent by the vehicle-regulatory image acquisition device is encoded and processed by the data processing device and then transmitted to the vehicle-mounted display device. Compared with encoding the streaming media data by the vehicle-regulatory image acquisition device, the amount of data transmitted to the vehicle-mounted display device can be reduced without increasing the complexity of the vehicle-regulatory image acquisition device. The data processing device and the vehicle-regulatory image acquisition device communicate based on the DDS protocol, which can improve the real-time and reliability of streaming media data transmission.

[0125] The above-mentioned scheme of the embodiment of the present application is introduced from the perspective of the execution process of the method side. It is understandable that, in order to realize the above-mentioned functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can 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 application.

[0126] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0127] See also Figure 6 , Figure 6 6 is a structural diagram of a data processing device provided in an embodiment of the present application. The data processing device 600 may include a receiving unit 601, an encoding unit 602 and a transmission unit 603, wherein:

[0128] The receiving unit 601 is used to receive streaming media data sent by the vehicle-regulatory image acquisition device; the data processing device communicates with the vehicle-regulatory image acquisition device based on the data distribution service DDS protocol;

[0129] The encoding unit 602 is used to encode the streaming media data to generate streaming media encoded data;

[0130] The transmission unit 603 is used to transmit the streaming media encoded data to the vehicle-mounted display device.

[0131] Optionally, the receiving unit 601 receives streaming media data sent by the vehicle-standard image acquisition device, including: when the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, receiving the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task, and the message carries the streaming media data.

[0132] Optionally, when the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, the receiving unit 601 receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task, including: when the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, and the service quality of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol matches the service quality of the subscription task created by the data processing device based on the DDS protocol, the receiving unit 601 receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task.

[0133] Optionally, the quality of service is configured as a reliable mode or a best-effort mode; the data transmission quality between the data processing device and the vehicle-regulatory image acquisition device in the reliable mode is greater than that in the best-effort mode.

[0134] Optionally, in a vehicle parking scenario or a vehicle startup scenario, the service quality is configured as the reliable mode, and in a vehicle automatic driving scenario, the service quality is configured as the best effort mode.

[0135] Optionally, when the data sending frequency of the vehicle-standard image acquisition device is greater than a set threshold, the service quality is configured as the best-effort mode; when the data sending frequency of the vehicle-standard image acquisition device is less than the set threshold, the service quality is configured as the reliable mode.

[0136] Optionally, the transmission mode of the DDS protocol is configured as a shared memory mode or a network mode, and the network mode includes a transmission control protocol TCP or a user datagram protocol UDP.

[0137] Optionally, the transmission unit 603 transmits the streaming media encoded data to the vehicle-mounted display device, including: using the real-time message transmission protocol RTMP to push the streaming media encoded data to the vehicle-mounted display device.

[0138] Optionally, the streaming media data is synthesized based on at least two video streams captured by the vehicle-regulatory image acquisition device.

[0139] Among them, the receiving unit 601, the encoding unit 602 and the transmission unit 603 in the embodiment of the present application can be processors in an electronic device.

[0140] In an embodiment of the present application, a data processing device is added between the vehicle-regulatory image acquisition device and the vehicle-mounted display device. The streaming media data sent by the vehicle-regulatory image acquisition device is encoded and processed by the data processing device and then transmitted to the vehicle-mounted display device. Compared with encoding the streaming media data by the vehicle-regulatory image acquisition device, the amount of data transmitted to the vehicle-mounted display device can be reduced without increasing the complexity of the vehicle-regulatory image acquisition device. The data processing device and the vehicle-regulatory image acquisition device communicate based on the DDS protocol, which can improve the real-time and reliability of streaming media data transmission.

[0141] See also Figure 7 , Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702, and the processor 701 and the memory 702 can be connected to each other via a communication bus 703. The communication bus 703 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus or a controller area network (CAN) bus. The communication bus 703 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The memory 702 is used to store computer programs, which include program instructions. The processor 701 is configured to call the program instructions. The program includes instructions for executing Figures 2 to 5 Some or all of the steps in the method included.

[0142] The processor 701 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program. Specifically, the processor 701 may be a processor in a vehicle computer or a processor in a vehicle-mounted tablet computer.

[0143] The memory 702 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0144] The electronic device 700 may further include a vehicle-mounted display device 704 , wherein the vehicle-mounted display device 704 may be a vehicle-mounted display screen, such as a vehicle-mounted tablet computer.

[0145] The electronic device 700 may further include a vehicle-standard image acquisition device or the electronic device 700 may further communicate with the vehicle-standard image acquisition device. The vehicle-standard image acquisition device may include a camera.

[0146] In addition, the electronic device 700 may also include common components such as a communication interface (eg, a USB interface, a microphone interface, etc.), an antenna, etc., which will not be described in detail here.

[0147] In an embodiment of the present application, a data processing device is added between the vehicle-regulatory image acquisition device and the vehicle-mounted display device. The streaming media data sent by the vehicle-regulatory image acquisition device is encoded and processed by the data processing device and then transmitted to the vehicle-mounted display device. Compared with encoding the streaming media data by the vehicle-regulatory image acquisition device, the amount of data transmitted to the vehicle-mounted display device can be reduced without increasing the complexity of the vehicle-regulatory image acquisition device. The data processing device and the vehicle-regulatory image acquisition device communicate based on the DDS protocol, which can improve the real-time and reliability of streaming media data transmission.

[0148] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the vehicle streaming media transmission methods recorded in the above method embodiments.

[0149] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0150] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0152] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, the functional units in the various embodiments of the application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software program modules.

[0154] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0155] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0156] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for transmitting streaming media in a vehicle, characterized in that: include: The data processing device receives the streaming media data sent by the vehicle regulation image acquisition device; The data processing device communicates with the vehicle-regulation image acquisition device based on the data distribution service DDS protocol; The data processing device encodes the streaming media data to generate streaming media encoded data; The data processing device transmits the streaming media encoded data to the vehicle-mounted display device.

2. The method according to claim 1, characterized in that The data processing device receives the streaming media data sent by the vehicle regulation image acquisition device, including: When the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task, and the message carries the streaming media data.

3. The method according to claim 2, characterized in that In the case where the subject of the publishing task created by the vehicle-regulatory image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, and the data type of the publishing task created by the vehicle-regulatory image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives, through the subscription task, a message published by the vehicle-regulatory image acquisition device through the publishing task, including: When the subject of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the subject of the subscription task created by the data processing device based on the DDS protocol, the data type of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol is the same as the data type of the subscription task created by the data processing device based on the DDS protocol, and the service quality of the publishing task created by the vehicle-standard image acquisition device based on the DDS protocol matches the service quality of the subscription task created by the data processing device based on the DDS protocol, the data processing device receives the message published by the vehicle-standard image acquisition device through the publishing task through the subscription task.

4. The method according to claim 3, characterized in that: The service quality is configured as a reliable mode or a best-effort mode; the data transmission quality between the data processing device and the vehicle-regulatory image acquisition device in the reliable mode is greater than that in the best-effort mode.

5. The method according to claim 4, characterized in that In a vehicle parking scenario or a vehicle starting scenario, the service quality is configured as the reliable mode, and in a vehicle automatic driving scenario, the service quality is configured as the best effort mode.

6. The method according to claim 4, characterized in that When the data transmission frequency of the vehicle-standard image acquisition device is greater than the set threshold, the service quality is configured as the best-effort mode; when the data transmission frequency of the vehicle-standard image acquisition device is less than the set threshold, the service quality is configured as the reliable mode.

7. The method according to claim 1, characterized in that The transmission mode of the DDS protocol is configured as a shared memory mode or a network mode, and the network mode includes a transmission control protocol TCP or a user datagram protocol UDP.

8. The method according to claim 1, characterized in that: The data processing device transmits the streaming media encoded data to the vehicle-mounted display device, including: The data processing device uses the real-time message transmission protocol RTMP to push the streaming media encoded data to the vehicle-mounted display device.

9. The method according to claim 1, characterized in that: The streaming media data is synthesized based on at least two video streams collected by the vehicle-regulatory image acquisition device.

10. The method according to claim 9, characterized in that The vehicle-standard image acquisition device includes at least two cameras, and the at least two cameras are used to acquire at least two video frames. The vehicle-standard image acquisition device is used to render the at least two video frames into one frame of streaming media data.

11. A data processing device, characterized in that: include: A receiving unit, used for receiving streaming media data sent by the vehicle-regulating image acquisition device; The data processing device communicates with the vehicle-regulation image acquisition device based on the data distribution service DDS protocol; An encoding unit, used for encoding the streaming media data to generate streaming media encoded data; The transmission unit is used to transmit the streaming media encoded data to the vehicle-mounted display device.

12. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is enabled to perform the method according to any one of claims 1 to 10.

Images