Communication transmission method and device for remote driving

Abstract

The embodiment of the invention provides a communication transmission method and device for remote driving. According to some aspects, the method is applied to the vehicle-mounted equipment, a first communication link and a second communication link which are used for transmitting different types of signals are established between the vehicle-mounted equipment and a control center, and the method comprises the steps that when the vehicle-mounted equipment uploads a first signal of a type corresponding to the first communication link to the control center through the first communication link, the first signal is transmitted to the control center through the second communication link; if the transmission quality of the first communication link does not meet the preset requirement, determining a first transmission frame rate needing sharing transmission of a second communication link according to the transmission quality of the first communication link; uploading a part of the first signal to the control center through a second communication link according to the first transmission frame rate; wherein the first signal is a data signal or a control signal. The method is used for achieving high-quality transmission of signals needed by remote driving, and therefore the safety and reliability of remote driving are guaranteed.

Description

Technical Field

[0001] This application relates to the field of remote driving, and more particularly to a communication transmission method and device for remote driving. Background Technology

[0002] With the rapid development of autonomous driving technology, remote driving (also known as remote control, teleoperation, parallel driving, etc.) has been widely used as a supplementary means of autonomous driving systems in specific scenarios, in fields such as handling complex road conditions, emergency rescue, mining transportation, and special environment operations.

[0003] In remote driving scenarios, drivers control the vehicle in real time through a remote control platform, while relying on video information of the vehicle's surroundings captured by onboard cameras to make decisions. Therefore, the stability and real-time performance of signal transmission in the communication system are crucial to ensuring the security of remote control.

[0004] Currently, in-vehicle equipment often relies on a single communication link (such as a 5G network) to transmit control and video signals. However, in practical applications, a single communication link is susceptible to network fluctuations, equipment failures, or environmental interference, which can easily lead to interruptions in control signals or loss of video information, thereby causing safety hazards. Therefore, there is an urgent need for a communication technology capable of real-time, high-quality transmission of control and video signals to improve the safety and reliability of remote driving. Summary of the Invention

[0005] This application provides a communication transmission method and device for remote driving, which enables high-quality transmission of signals required for remote driving, thereby ensuring the safety and reliability of remote driving.

[0006] In a first aspect, embodiments of this application provide a communication transmission method for remote driving, applied to an in-vehicle device, wherein a first communication link and a second communication link for transmitting different types of signals are established between the in-vehicle device and a control center, and the method includes:

[0007] When the vehicle-mounted device uploads a first signal of the type corresponding to the first communication link to the control center through the first communication link, if the transmission quality of the first communication link does not meet the preset requirements, then the first transmission frame rate that needs to be shared by the second communication link is determined according to the transmission quality of the first communication link.

[0008] According to the first transmission frame rate, a portion of the first signal is uploaded to the control center via the second communication link;

[0009] The first signal is either a data signal or a control signal.

[0010] It should be understood that the method provided in this solution establishes a first communication link and a second communication link between the vehicle-mounted device and the control center for transmitting different types of signals. Each communication link transmits its corresponding signal, which avoids the video signal's high bandwidth occupying the main transmission channel traffic, thus preventing delays or fluctuations in the stability of the control signal transmission. At the same time, in this embodiment, when the vehicle-mounted device uploads or receives control signals, if the transmission quality of one communication link is poor, the other communication link is used to share the transmission of the signal corresponding to the signal type of that link. This also achieves real-time, high-quality transmission of vehicle-end information required for remote driving, thereby ensuring the safety and reliability of remote driving.

[0011] In one possible implementation, the method further includes:

[0012] Based on the network delay time and packet loss rate of the first signal transmitted through the first communication link, it is determined whether the transmission quality of the first communication link meets the preset requirements.

[0013] It should be understood that this implementation method uses two core transmission quality indicators—network latency and packet loss rate—when the first signal is transmitted through the first communication link to determine whether the link meets the preset requirements. This enables accurate and timely perception of the real-time transmission status of the communication link, avoiding the one-sidedness of a single-dimensional evaluation. It provides a reliable basis for determining the distribution of signal transmission frame rate, allowing the vehicle-mounted equipment to accurately identify the transmission quality of the communication link, thereby ensuring the reliability of frame rate distribution.

[0014] In one possible implementation, determining whether the transmission quality of the first communication link meets preset requirements based on the network latency and packet loss rate of the first signal uploaded via the first communication link includes:

[0015] Calculate the first transmission quality index based on the network latency and the packet loss rate;

[0016] If the first transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the first communication link does not meet the preset requirements.

[0017] It should be understood that this implementation integrates network latency and packet loss rate into a quantified first transmission quality indicator, and uses a first preset indicator threshold as the standard for judging link quality. This allows the judgment of the transmission quality of the first communication link to overcome the one-sidedness and ambiguity of a single indicator evaluation, and achieves accurate and objective quantitative judgment of link quality. This enables timely identification of whether the transmission quality of the first communication link meets the preset requirements, and provides a reliable basis for subsequent decisions such as whether to start the second communication link to share the transmission load, thus ensuring the stability and real-time performance of signal transmission.

[0018] In one possible implementation, determining the first transmission frame rate that needs to be shared by the second communication link based on the transmission quality of the first communication link includes:

[0019] Based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the first signal, the first transmission frame rate that needs to be shared by the second communication link is calculated; wherein, the second transmission quality index is an index of the current transmission quality of the second communication link.

[0020] It should be understood that this implementation integrates the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, and the transmission frame rate of the first signal to calculate the first transmission frame rate that the second communication link needs to share. This ensures that the load sharing of the second communication link determined by the vehicle-mounted equipment matches the quality gap of the first communication link without exceeding its own carrying capacity, thereby achieving the effect of accurately allocating dual-link transmission tasks and ensuring the stable achievement of the total signal transmission frame rate requirement.

[0021] In one possible implementation, the step of uploading a portion of the first signal to the control center via the second communication link according to the first transmission frame rate includes:

[0022] If the first signal is a data signal, then when the second transmission quality index of the second communication link is greater than the second preset index threshold, a portion of the first signal is uploaded to the control center through the second communication link according to the first transmission frame rate.

[0023] It should be understood that this implementation method, by allowing the second communication link to share part of the data signal uploading only when the second transmission quality index is greater than the second preset threshold in the data signal scenario, according to the first transmission frame rate, ensures that the second communication link (i.e. the control communication link) participates in data transmission only when it has sufficient carrying capacity. This avoids the second communication link from occupying control signal transmission resources due to insufficient quality to carry data signals, thus achieving the effect of balancing the transmission quality of both signals while ensuring the reliability of control signal transmission.

[0024] In one possible implementation, the method further includes:

[0025] Based on the transmission quality of the first communication link, determine the second transmission frame rate that needs to be shared by roadside equipment;

[0026] Based on the second transmission frame rate, a portion of the signal is uploaded to the control center via the third communication link between the roadside equipment and the control center.

[0027] It should be understood that this implementation method utilizes roadside equipment to share the transmission signal, thereby further improving the signal transmission quality of the vehicle-mounted equipment.

[0028] In one possible implementation, determining the first transmission frame rate that needs to be shared by the second communication link based on the transmission quality of the first communication link includes:

[0029] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the first signal, the first transmission frame rate that needs to be shared by the second communication link is calculated.

[0030] The step of determining the second transmission frame rate that needs to be shared by roadside equipment based on the transmission quality of the first communication link includes:

[0031] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the first signal, the second transmission frame rate that needs to be shared by the third communication link is calculated.

[0032] It should be understood that this implementation integrates the first transmission quality index, the second transmission quality index, the third quality transmission index, and the transmission frame rate of the first signal to calculate the first transmission frame rate that the second and third communication links need to share. This allows the vehicle-mounted equipment to match the quality gap of the first link while not exceeding its own carrying capacity when utilizing the load sharing of other communication links. This achieves the effect of accurately allocating multi-link transmission tasks and ensuring the stable achievement of the total signal transmission frame rate requirement.

[0033] In one possible implementation, the step of uploading a portion of the first signal to the control center via a third communication link between the roadside equipment and the control center according to the second transmission frame rate includes:

[0034] A portion of the first signal corresponding to the second transmission frame rate is sent to the roadside device, so that the roadside device uploads a portion of the first signal corresponding to the second transmission frame rate to the control center through the third communication link.

[0035] It should be understood that this implementation method utilizes roadside equipment to share the signal transmission load, thereby further improving the signal transmission quality of the on-board equipment.

[0036] In one possible implementation, the first signal is a data signal for transmitting video, and the method further includes:

[0037] The system receives a target resolution from the control center, the target resolution being determined based on the overall communication quality between the vehicle-mounted equipment and the control center.

[0038] Before uploading a portion of the first signal to the control center via the second communication link according to the first transmission frame rate, the method further includes:

[0039] Adjust the resolution of the video to be transmitted to the target resolution.

[0040] It should be understood that this implementation ensures that the driver can still stably acquire video information about the vehicle's surroundings even when the overall communication quality of the communication link is poor. This avoids the problems of signal transmission overload in high-resolution video scenarios with insufficient communication quality or insufficient resource utilization when communication quality is sufficient. It achieves a dynamic balance between communication resource load and remote driving needs, ensuring clear and usable video footage during remote driving and improving the overall reliability of remote driving communication transmission and driving safety.

[0041] In one possible implementation, the data signal includes data signals for transmitting images sent by the vehicle-mounted device to the control center, and / or data signals for transmitting video.

[0042] The control signal includes the vehicle status signal sent by the on-board equipment to the control center, and the vehicle status signal includes at least one of the following: actual vehicle speed signal, actual vehicle turning angle signal, and motor speed and voltage signal.

[0043] Secondly, embodiments of this application provide a remote driving communication transmission method applied to a control center, wherein a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted equipment, and the method includes:

[0044] The first part of the signal sent by the vehicle-mounted device is received through the first communication link;

[0045] The second part of the signal is received through the second communication link, which is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements.

[0046] The signal uploaded by the vehicle-mounted device is obtained based on the first part of the signal and the second part of the signal.

[0047] In one possible implementation, the method further includes:

[0048] The third part of the signal is received through the third communication link, which is the communication link between the control center and the roadside equipment. The third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the first communication link does not meet the preset requirements.

[0049] The step of obtaining the signal uploaded by the vehicle-mounted device based on the first part of the signal and the second part of the signal includes:

[0050] The signal uploaded by the vehicle-mounted device is obtained based on the first part of the signal, the second part of the signal, and the third part of the signal.

[0051] In one possible implementation, the method further includes:

[0052] Acquire the reception time difference between the simultaneously transmitted control signal and data signal, the first transmission quality index of the first communication link, and the second transmission quality index of the second communication link;

[0053] A comprehensive quality score is obtained based on the receiving time difference, the first transmission quality index, and the second transmission quality index.

[0054] The target resolution is determined based on the overall quality score and the preset first mapping relationship;

[0055] The target resolution is sent to the vehicle-mounted device;

[0056] The first mapping relationship includes the resolutions corresponding to different comprehensive quality scores.

[0057] In one possible implementation, the method further includes:

[0058] If the timestamp of the currently received signal is earlier than the timestamp of the previously received signal, then the currently received signal is discarded.

[0059] It should be understood that the method provided in this implementation compares the timestamp of the currently received signal with the timestamp of the last received signal by the control center, and discards the current signal whose timestamp is earlier than the last one. This ensures that the control center only processes the latest signal with correct timing, and avoids old signals that arrive late due to network delays, retransmissions, etc., from being mixed into the normal signal stream. This achieves the effect of ensuring the timing consistency of signal processing, preventing old signals from overwriting or interfering with the parsing and execution of the latest instructions / data, and improving the accuracy and reliability of the control center's response to the signals of the vehicle-mounted equipment.

[0060] Thirdly, embodiments of this application provide a remote driving communication transmission method applied to roadside equipment, wherein the roadside equipment establishes links for signal transmission with both on-board equipment and a control center, and the method includes:

[0061] Receive a portion of the first signal sent by the vehicle-mounted device that needs to be uploaded to the control center. The portion of the first signal is a signal that is determined to be shared by the roadside equipment when the quality of the first communication link does not meet the preset requirements.

[0062] The aforementioned signals are uploaded to the control center.

[0063] Fourthly, embodiments of this application provide a communication transmission method for remote driving, applied in a control center, wherein a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted equipment, and the method includes:

[0064] When the control center sends a control signal to the vehicle-mounted device through the second communication link, if the transmission quality of the second communication link does not meet the preset requirements, then the third transmission frame rate that needs to be shared by the first communication link is determined based on the transmission quality of the second communication link.

[0065] According to the third transmission frame rate, a portion of the control signal is transmitted to the vehicle-mounted device via the first communication link.

[0066] In one possible implementation, the method further includes:

[0067] Based on the network delay time and packet loss rate of the control signal sent by the second communication link, determine whether the transmission quality of the second communication link meets the preset requirements.

[0068] In one possible implementation, determining whether the transmission quality of the second communication link meets preset requirements based on the network delay time and packet loss rate of the control signal transmitted by the second communication link includes:

[0069] Calculate the second transmission quality index based on the network latency and the packet loss rate;

[0070] If the second transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the second communication link does not meet the preset requirements.

[0071] In one possible implementation, determining the third transmission frame rate that needs to be shared by the first communication link based on the transmission quality of the second communication link includes:

[0072] Based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the control signal, the third transmission frame rate that needs to be shared by the first communication link is calculated; wherein, the first transmission quality index is an index of the current transmission quality of the first communication link.

[0073] In one possible implementation, the method further includes:

[0074] Based on the transmission quality of the second communication link, determine the fourth transmission frame rate that needs to be shared by the roadside equipment.

[0075] According to the fourth transmission frame rate, a portion of the control signal is transmitted to the vehicle-mounted equipment via the third communication link between the control center and the roadside equipment.

[0076] In one possible implementation, determining the third transmission frame rate that needs to be shared by the first communication link based on the transmission quality of the second communication link includes:

[0077] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the control signal, the third transmission frame rate that needs to be shared by the first communication link is calculated.

[0078] The step of determining the fourth transmission frame rate that needs to be shared by roadside equipment based on the transmission quality of the second communication link includes:

[0079] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the control signal, the fourth transmission frame rate that needs to be shared by the third communication link is calculated.

[0080] In one possible implementation, transmitting a portion of the control signal to the vehicle-mounted device via a third communication link between the control center and the roadside equipment according to the fourth transmission frame rate includes:

[0081] A portion of the control signal corresponding to the fourth transmission frame rate is sent to the roadside device, so that the roadside device sends a portion of the control signal corresponding to the fourth transmission frame rate to the vehicle-mounted device through the third communication link.

[0082] In one possible implementation, the control signal is a maximum vehicle speed control signal, and the method further includes:

[0083] Acquire the reception time difference between the simultaneously transmitted control signal and data signal, the first transmission quality index of the first communication link, and the second transmission quality index of the second communication link;

[0084] A comprehensive quality score is obtained based on the receiving time difference, the first transmission quality index, and the second transmission quality index.

[0085] The maximum vehicle speed control signal is obtained based on the comprehensive quality score and the preset second mapping relationship;

[0086] The second mapping relationship includes the maximum vehicle speed corresponding to different comprehensive quality scores.

[0087] It should be understood that this implementation method can ensure vehicle driving safety and reduce the risk of accidents caused by signal transmission deviations when the overall communication quality of the communication link is poor.

[0088] In one possible implementation, the control signal includes at least one of a steering control signal, a braking control signal, an acceleration control signal, and a gear shift control signal sent by the control center to the vehicle-mounted equipment.

[0089] Fifthly, embodiments of this application provide a remote driving communication transmission method applied to an in-vehicle device, wherein a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the in-vehicle device and the control center, and the method includes:

[0090] The first part of the signal sent by the control center is received through the second communication link;

[0091] The first communication link receives a second part of the signal sent by the vehicle-mounted device. The second part of the signal is the signal that is determined to be transmitted by the first communication link when the quality of the second communication link does not meet the preset requirements.

[0092] Based on the first part of the signal and the second part of the signal, the control signal sent by the control center is obtained.

[0093] In one possible implementation, the method further includes:

[0094] The third part of the signal is received through the third communication link, which is the communication link between the control center and the roadside equipment. The third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the second communication link does not meet the preset requirements.

[0095] The step of obtaining the control signal sent by the control center based on the first part of the signal and the second part of the signal includes:

[0096] Based on the first part of the signal, the second part of the signal, and the third part of the signal, the control signal sent by the control center is obtained.

[0097] In one possible implementation, the method further includes:

[0098] The system receives a maximum speed control signal from the control center. The maximum speed control signal is determined based on the overall communication quality between the on-board equipment and the control center, and is used to control the speed of the vehicle to not exceed the target maximum speed indicated by the maximum speed control signal.

[0099] Based on the maximum vehicle speed control signal, the vehicle speed is limited.

[0100] In one possible implementation, the method further includes:

[0101] If the timestamp of the currently received control signal is detected to be earlier than the timestamp of the previously received control signal, then the currently received control signal is discarded.

[0102] It should be understood that the method provided in this implementation verifies the timestamp of the received control signals from the control center by the on-board equipment, discarding the current control signals whose timestamps are earlier than the last received signal. This ensures that the on-board equipment only executes the control commands with the latest timing, completely avoiding the risk of expired control signals being executed incorrectly due to network retransmission and delay. This achieves the goal of ensuring the timeliness and uniqueness of remote driving control commands, preventing old commands from interfering with the vehicle's real-time control decisions, and improving the safety and accuracy of remote driving from the signal execution level.

[0103] Sixthly, embodiments of this application provide a remote driving communication transmission method applied to roadside equipment, wherein the roadside equipment establishes links for signal transmission with both on-board equipment and a control center, and the method includes:

[0104] Receives a portion of the control signals sent by the control center that need to be transmitted to the vehicle-mounted equipment. The portion of the control signals is a signal that is determined to be shared by the roadside equipment when the quality of the second communication link does not meet the preset requirements.

[0105] A portion of the control signal is sent to the vehicle-mounted equipment.

[0106] In a seventh aspect, embodiments of this application provide a communication transmission device for remote driving, comprising:

[0107] The first determining module is used to determine, based on the transmission quality of the first communication link, a first transmission frame rate that needs to be shared by the second communication link when the vehicle-mounted device uploads a first signal of the corresponding type of the first communication link to the control center through the first communication link; the vehicle-mounted device and the control center establish a first communication link and a second communication link for transmitting different types of signals.

[0108] The first upload module is used to upload a portion of the first signal to the control center via the second communication link according to the first transmission frame rate;

[0109] The first signal is either a data signal or a control signal.

[0110] Eighthly, embodiments of this application provide a remote driving communication transmission device, the device comprising:

[0111] A first receiving module is configured to receive a first portion of a signal transmitted by the vehicle-mounted device via the first communication link; a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted device.

[0112] The second receiving module is used to receive a second part of the signal sent by the vehicle-mounted device through the second communication link. The second part of the signal is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements.

[0113] The acquisition module is used to obtain the signal uploaded by the vehicle-mounted device based on the first part of the signal and the second part of the signal.

[0114] Ninthly, embodiments of this application provide a remote driving communication transmission device, the device comprising:

[0115] The first receiving module is used to receive a portion of the first signal sent by the vehicle-mounted equipment that needs to be uploaded to the control center. The portion of the first signal is a signal that is determined to be transmitted by the roadside equipment when the quality of the first communication link does not meet the preset requirements.

[0116] An upload module is used to upload a portion of the first signal to the control center.

[0117] In a tenth aspect, embodiments of this application provide a communication transmission device for remote driving, the device comprising:

[0118] The first determining module is used to determine, based on the transmission quality of the second communication link, a third transmission frame rate that needs to be shared by the first communication link when the control center sends a control signal to the vehicle-mounted device via the second communication link, if the transmission quality of the second communication link does not meet preset requirements; the control center and the vehicle-mounted device establish a first communication link for transmitting data signals and a second communication link for transmitting control signals.

[0119] The first sending module is used to send a portion of the control signal to the vehicle-mounted device through the first communication link according to the third transmission frame rate.

[0120] Eleventhly, embodiments of this application provide a remote driving communication transmission device, comprising:

[0121] The second receiving module is used to receive a first part of the signal sent by the control center through the second communication link; a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the vehicle-mounted equipment and the control center.

[0122] The third receiving module is used to receive a second part of the signal sent by the vehicle-mounted device through the first communication link. The second part of the signal is the signal that is determined to be transmitted by the first communication link when the quality of the second communication link does not meet the preset requirements.

[0123] The acquisition module is used to obtain the control signal sent by the control center based on the first part of the signal and the second part of the signal.

[0124] In a twelfth aspect, embodiments of this application provide a remote driving communication transmission device, the device comprising:

[0125] The second receiving module is used to receive a portion of the control signals sent by the control center that need to be transmitted to the vehicle-mounted equipment. The portion of the signal is a signal that is determined to be transmitted by the roadside equipment when the quality of the second communication link does not meet the preset requirements.

[0126] The sending module is used to send a portion of the control signal to the vehicle-mounted device.

[0127] In a thirteenth aspect, embodiments of this application provide an in-vehicle device, including: a memory and a processor;

[0128] The memory stores computer-executed instructions;

[0129] The processor executes computer execution instructions stored in the memory, causing the processor to perform the methods described in the first aspect and / or the fifth aspect above.

[0130] In a fourteenth aspect, embodiments of this application provide a control center device, including: a memory and a processor;

[0131] The memory stores computer-executed instructions;

[0132] The processor executes computer execution instructions stored in the memory, causing the processor to perform the methods described in the second and / or fourth aspects above.

[0133] In a fifteenth aspect, embodiments of this application provide a roadside device, including: a memory and a processor;

[0134] The memory stores computer-executed instructions;

[0135] The processor executes computer execution instructions stored in the memory, causing the processor to perform the methods described in the third and / or sixth aspects above.

[0136] In a sixteenth aspect, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement various possible implementations of the first and / or fifth aspects described above; or, when executed by a processor, the computer-executable instructions are used to implement various possible implementations of the second and / or fifth aspects described above; or, when executed by a processor, the computer-executable instructions are used to implement various possible implementations of the third and / or sixth aspects described above.

[0137] In a seventeenth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, is used to implement various possible implementations of the first and / or fifth aspects as described above; or, when executed by a processor, the computer program is used to implement various possible implementations of the second and / or fifth aspects as described above; or, when executed by a processor, the computer program is used to implement various possible implementations of the third and / or sixth aspects as described above.

[0138] Eighteenthly, embodiments of this application provide a communication transmission system for remote driving, including an on-board device, a control center, a roadside device, a first communication link and a second communication link established between the on-board device and the control center, and a third communication link established between the roadside device and the on-board device and the control center respectively;

[0139] Wherein, the vehicle-mounted equipment is the vehicle-mounted equipment described in the sixteenth aspect; the control center is the control center described in the seventeenth aspect; and the roadside equipment is the roadside equipment described in the eighteenth aspect.

[0140] The communication transmission method and device for remote driving provided in this application embodiment, when the transmission quality of one communication link is poor, uses other communication links to share the transmission of signals corresponding to the signal type of that link, thereby achieving real-time high-quality transmission of the information required for remote driving, thus ensuring the safety and reliability of remote driving. Attached Figure Description

[0141] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0142] Figure 1 This is a schematic diagram of the architecture of a traditional remote driving communication transmission system;

[0143] Figure 2 This is a schematic diagram of the structure of a communication transmission system for remote driving provided in Embodiment 1 of this application;

[0144] Figure 3 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 1 of this application;

[0145] Figure 4 This is a schematic diagram of the structure of a communication transmission system for remote driving provided in Embodiment 2 of this application;

[0146] Figure 5 This is a schematic diagram of the structure of a specific remote driving communication transmission system provided in Embodiment 2 of this application;

[0147] Figure 6 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 2 of this application;

[0148] Figure 7 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 3 of this application;

[0149] Figure 8 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 4 of this application;

[0150] Figure 9 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 5 of this application;

[0151] Figure 10 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment Six of this application;

[0152] Figure 11 A schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 7 of this application;

[0153] Figure 12 A schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 8 of this application;

[0154] Figure 13 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 9 of this application;

[0155] Figure 14 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 9 of this application;

[0156] Figure 15 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 9 of this application;

[0157] Figure 16 The structural schematic diagram of the vehicle-mounted equipment provided in this application;

[0158] Figure 17 A schematic diagram of the control center provided in this application;

[0159] Figure 18 This is a schematic diagram of the roadside equipment provided in an embodiment of this application.

[0160] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0161] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0162] Figure 1 This is a schematic diagram of the architecture of a traditional remote driving communication transmission system, such as... Figure 1 As shown, the system includes a control terminal, a control center, and vehicle-mounted equipment, with a communication link established between the control center and the vehicle-mounted equipment.

[0163] Specifically, the control unit consists of a display device and a remote operating platform. The driver is located at the control unit and remotely controls the vehicle.

[0164] The display device is used to receive video data sent by the control center and present the driver with video data collected by the in-vehicle equipment through the camera.

[0165] The remote operation platform is used to receive control signals input by the driver and send the control signals to the control center. At the same time, it is also used to feed back the signals returned from the control center to the driver.

[0166] In addition, the control center acts as an intermediary between the control terminal and the vehicle-mounted equipment, including a signal decoding unit, video processing program, and operating platform signal processing unit.

[0167] The signal decoding unit is used to separate and decode the data signals (transmitted video data) and control signals sent by the vehicle-mounted equipment. It sends the video data and control signals to the video processing program and the operation platform signal processing unit, respectively. It is also used to decode the control signals sent by the operation platform signal processing unit and send them to the vehicle-mounted equipment.

[0168] The video processing program is used to perform video processing functions such as distortion correction, video splicing, and display on the received video data, and then uploads the processed video data to the control terminal.

[0169] The signal processing unit of the operating platform is used to receive control signals issued by the remote operating platform and send them to the signal decoding unit. At the same time, it is also used to analyze the control signals returned by the signal decoding unit and send the control signals back to the remote operating platform.

[0170] The vehicle-mounted equipment includes a transmission device, multiple vehicle-mounted cameras, and a controller. The transmission device receives control signals from the control center via a communication link and also transmits data and control signals to the control center via the same link. The multiple vehicle-mounted cameras capture images of the vehicle's surroundings.

[0171] The controller is used to receive control signals sent by the transmission device to control the vehicle, and also to collect control signals returned by the vehicle and send the returned control signals to the transmission device.

[0172] Based on the above introduction to the traditional communication transmission system for remote driving, it can be seen that in the current system, the control center communicates with the vehicle equipment using only a single communication link. When the transmission equipment fails, the entire system will be paralyzed. At the same time, the system is also unable to guarantee high-quality transmission of the signals required for remote driving.

[0173] In light of this, the inventors discovered during their research that two communication links can be set up in the system for transmitting different types of signals. Accordingly, when data or control signals need to be transmitted, if the transmission quality of the communication link corresponding to that signal type is poor, the transmission frame rate that the other communication link needs to share the transmission load of the signal will be determined based on the transmission quality of that link. The signal will then be uploaded to the control center through the collaboration of the two links, effectively ensuring real-time, high-quality signal transmission.

[0174] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0175] Figure 2 This is a schematic diagram of the structure of a communication transmission system for remote driving provided in Embodiment 1 of this application, as shown below. Figure 2 As shown, the remote driving communication transmission system 10 provided in this embodiment includes a control center, vehicle-mounted equipment, and a first communication link and a second communication link established between the vehicle-mounted equipment and the control center for transmitting different types of signals.

[0176] Among them, the vehicle-mounted equipment can be an external device connected to the vehicle, or it can be a vehicle-mounted unit installed in the vehicle itself.

[0177] The first and second communication links can be wireless communication links built on cellular mobile communication technologies (such as 5G or 4G communication links), or they can be fiber optic communication links, Wireless Fidelity (WiFi) communication links, or other forms of communication links with stable data transmission capabilities. This application does not impose any restrictions on these. The first and second communication links can be based on the same communication technology or different communication technologies.

[0178] For example, the vehicle-mounted device may include a data transmission device and a remote control operation transmission device, wherein the data transmission device establishes a communication connection with the control center through one of the communication links, and the remote control operation transmission device establishes a communication connection with the control center through the other communication link.

[0179] Figure 3 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 1 of this application. Embodiment 1 of this application provides a communication transmission method for remote driving, which is applied to the system provided in Embodiment 1 of this application, such as... Figure 3 As shown, the method includes:

[0180] S101. When the vehicle-mounted device uploads a first signal of the type corresponding to the first communication link to the control center through the first communication link, if the transmission quality of the first communication link does not meet the preset requirements, the first transmission frame rate that needs to be shared by the second communication link is determined according to the transmission quality of the first communication link.

[0181] The first signal is either a data signal or a control signal.

[0182] Specifically, the data signal refers to non-command signals sent by the on-board equipment to the control center, including information about the vehicle's surrounding environment collected by the equipment itself, for the control end to monitor road conditions. For example, the data signal includes data signals transmitting images sent by the on-board equipment to the control center, and / or data signals transmitting video sent by the on-board equipment to the control center.

[0183] Control signals refer to control command or request signals returned by onboard equipment to the control center. In one possible implementation, control signals include vehicle status signals sent by the onboard equipment to the control center. These vehicle status signals include at least one of the following: actual vehicle speed signal, actual vehicle steering angle signal, and motor speed and voltage signal. It should be understood that control signals are used to provide the control terminal with the actual driving status of the vehicle, providing a control basis for the driver's remote control.

[0184] In this embodiment, the first communication link refers to the link whose transmission type corresponds to the first signal to be transmitted among the two links; the second communication link refers to the other link among the two links besides the first communication link. The embodiments of this application do not strictly limit the transmission types of the first communication link and the second communication link.

[0185] Specifically, if the first signal is a data signal, then the first communication link is a data communication link for transmitting data signals, and the second communication link is a control communication link for transmitting control signals; if the first signal is a control signal, then the first communication link is a control communication link for transmitting control signals, and the second communication link is a data communication link for transmitting data signals.

[0186] As a specific example, if the first signal to be transmitted is a control signal (i.e., the first communication link is a control communication link for transmitting control signals, and the second communication link is a data communication link for transmitting data signals), then this step is as follows:

[0187] When the vehicle-mounted equipment uploads control signals to the control center through the control transmission link, if the transmission quality of the control communication link does not meet the preset requirements, the first transmission frame rate that needs to be shared by the data communication link is determined based on the transmission quality of the control communication link.

[0188] It should be understood that the transmission quality of the control communication link will directly affect the real-time performance and integrity of the transmitted signal. Therefore, in this step, if the vehicle-mounted equipment determines that the transmission quality of the control communication link does not meet the preset requirements, it will determine that the control signal needs to be shared by the data communication link. Based on the transmission quality of the control communication link, the first transmission frame rate of the data communication link for sharing the transmission is quantified.

[0189] For example, if the transmission frame rate of the control signal is 100fps, then based on the transmission quality of the control communication link, the frame rate of the data communication link for sharing the transmission can be determined to be 20fps, and correspondingly, the transmission frame rate of the control signal by the control communication link is 80fps.

[0190] Similarly, as another specific example, the signal to be transmitted is a data signal (that is, the first communication link is a data communication link for transmitting data signals, and the second communication link is a control communication link for transmitting control signals).

[0191] Accordingly, this step specifically involves: when the vehicle-mounted device uploads data signals to the control center via the video transmission link, if the transmission quality of the data communication link does not meet the preset requirements, then the first transmission frame rate that needs to be controlled to share the transmission is determined based on the transmission quality of the data communication link.

[0192] Furthermore, the purpose of the preset requirements in this step is to ensure that if the transmission quality of the communication link meets the preset requirements, it indicates that the quality of the communication link is high and conforms to high-quality communication transmission standards. The specific content of the preset requirements can be determined according to the specific actual application conditions, and this application does not impose specific limitations on them.

[0193] Specifically, whether the transmission quality of the communication link meets the preset requirements can be determined based on various quality evaluation indicators when the communication link transmits signals. These indicators may include end-to-end network delay, bit error rate, transmission jitter, and available bandwidth. This application does not impose specific restrictions on the selection of quality evaluation indicators.

[0194] In one possible implementation, the on-board device can determine whether the transmission quality of the first communication link meets the preset requirements using the following method:

[0195] Based on the network delay time and packet loss rate of the first signal transmitted through the first communication link, determine whether the transmission quality of the first communication link meets the preset requirements.

[0196] Among them, network latency refers to the total time it takes for a signal to be sent from the vehicle-mounted equipment to the control center; packet loss rate is the proportion of data packets lost per unit time when the signal is transmitted through the communication link to the total number of data packets sent.

[0197] In this implementation, the vehicle-mounted device will quantify the transmission quality of the first communication link based on two quality evaluation indicators: network latency and packet loss rate, to determine whether the transmission quality of the first communication link meets the preset requirements.

[0198] In practical applications, information regarding network latency and packet loss rate obtained by vehicle-mounted equipment can be acquired directly through the equipment itself, or it can be acquired by the control center or other equipment after detection, with the results then sent to the vehicle-mounted equipment. This application does not impose specific limitations in this regard.

[0199] As a specific example, when the vehicle-mounted equipment transmits control signals through the control communication link, it will detect the network latency and packet loss rate of the control communication link in real time, and determine whether the control communication link meets the preset requirements based on the network latency and packet loss rate of the control communication link.

[0200] As another specific example, when the vehicle-mounted equipment transmits data signals through the data communication link, it will detect the network latency and packet loss rate of the data communication link in real time, and determine whether the data communication link meets the preset requirements based on the network latency and packet loss rate of the data communication link.

[0201] Optionally, this implementation may specifically include the following steps 1.1 and 1.2:

[0202] Step 1.1: Calculate the first transmission quality index based on network latency and packet loss rate.

[0203] In this step, the transmission quality of the first communication link can be directly evaluated by quantifying the network latency and packet loss rate of the first communication link, thus obtaining the first transmission quality index corresponding to the first communication link.

[0204] For example, the first transmission quality indicator The following formula can be used for calculation:

[0205]

[0206]

[0207]

[0208] Where D represents network latency; P represents packet loss rate; α and β are weighting parameters that can be adjusted according to actual conditions; yes The normalization result; A larger value indicates better communication quality of the communication link, and the value ranges from [0,1].

[0209] Step 1.2: If the first transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the first communication link does not meet the preset requirements.

[0210] The first preset index threshold can be determined according to the actual application situation, and this application does not impose too many restrictions on it.

[0211] The methods provided in steps 1.1 and 1.2 above integrate network latency and packet loss rate into a quantified first transmission quality indicator, and use a first preset indicator threshold as the link quality judgment standard. This allows the judgment of the transmission quality of the first communication link to overcome the one-sidedness and ambiguity of a single indicator evaluation, and achieves accurate and objective quantitative judgment of link quality. This enables timely identification of whether the transmission quality of the first communication link meets the preset requirements, providing a reliable basis for subsequent decisions such as whether to start the second communication link to share the transmission load, and ensuring the stability and real-time performance of signal transmission.

[0212] Optional, if ,and If the first transmission quality index is greater than the second preset index threshold, then it is determined that the transmission quality of the first communication link does not meet the preset requirements.

[0213] The method provided in this implementation allows the vehicle-mounted device to determine whether the link meets preset requirements by using two core transmission quality indicators: network latency and packet loss rate when the first signal is uploaded on the first communication link. This enables accurate and timely perception of the real-time transmission status of the communication link, avoiding the one-sidedness of a single-dimensional evaluation. It provides a reliable basis for determining the distribution of signal transmission frame rate, enabling the vehicle-mounted device to accurately identify the transmission quality of the communication link, thereby ensuring the reliability of frame rate distribution.

[0214] In one possible implementation, the vehicle-mounted device can determine the first transmission frame rate that needs to be shared by the second communication link in the following way: the first transmission frame rate that needs to be shared by the second communication link is calculated based on the first transmission quality index, the second transmission quality index and the transmission frame rate of the first signal.

[0215] The second transmission quality indicator is an indicator of the current transmission quality of the second communication link. In practical applications, the vehicle-mounted equipment can obtain the second transmission quality indicator corresponding to the second communication link in the same way as the first transmission quality indicator mentioned above, which will not be elaborated here.

[0216] The transmission frame rate of the first signal refers to the total number of target transmission frames that the first signal must guarantee per unit time, i.e., the total transmission requirement of the first signal.

[0217] It should be understood that the signal transmission capabilities of the first and second communication links can be measured based on the first and second transmission quality indicators, and the transmission frame rate of the first signal can be allocated on the first and second communication links based on the total transmission demand of the first signal and with the goal of high-quality signal transmission.

[0218] As a specific example, the frame rate allocation weight of each communication link can be determined directly based on the first transmission quality index and the second transmission quality index, and the transmission frame rate of the link can be determined according to the weight corresponding to the link.

[0219] In other words, taking the first signal as the control signal as an example, the transmission frame rate of the second communication link (i.e., the data communication link) for sharing the transmission of the control signal can be calculated using the following formula. And the transmission frame rate required for the control signals to be transmitted via the first communication link (i.e., the control communication link). :

[0220]

[0221]

[0222]

[0223] in, Indicates the transmission quality indicators that control the communication link; Indicates the transmission quality index of a data communication link; This indicates the frame rate of the control signal transmission.

[0224] Alternatively, taking the first signal as the data signal as an example, the transmission frame rate of the second communication link (i.e., the control communication link) for sharing the data signal transmission can be calculated using the following formula. And the transmission frame rate required for data signals to be transmitted on the first communication link (i.e., the data communication link). :

[0225]

[0226]

[0227]

[0228] in, This indicates the frame rate of the control signal transmission.

[0229] The method provided in this implementation integrates the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, and the transmission frame rate of the first signal to calculate the first transmission frame rate that the second communication link needs to share. This ensures that the load sharing of the second communication link determined by the vehicle-mounted equipment matches the quality gap of the first communication link without exceeding its own carrying capacity, thereby achieving the effect of accurately allocating dual-link transmission tasks and ensuring the stable achievement of the total signal transmission frame rate requirement.

[0230] S102. Based on the first transmission frame rate, a portion of the first signal is uploaded to the control center via the second communication link.

[0231] In this step, the vehicle-mounted equipment needs to upload a portion of the first signal corresponding to the first transmission frame rate to the control center via the second transmission link.

[0232] In one possible implementation, if the first signal is a data signal, then when the second transmission quality index of the second communication link is greater than the second preset index threshold, a portion of the first signal is uploaded to the control center through the second communication link according to the first transmission frame rate.

[0233] It should be understood that, considering the remote driving scenario, control signals directly determine vehicle driving safety and are core signals whose real-time performance and integrity must be guaranteed. Therefore, the high-quality transmission priority of control signals should be higher than that of video signals. In view of this, this implementation only uses the control communication link to share the transmission of data signals when it is determined that the transmission quality of the control communication link is also high.

[0234] The second preset index threshold can be the same as or different from the first preset index threshold, depending on the specific communication requirements in actual application. This application does not impose too many restrictions on this.

[0235] Accordingly, in practical applications, if the first signal is a data signal and the second transmission quality index is less than or equal to the second preset index threshold, then the data signal is transmitted only through the second communication link.

[0236] The method provided in this implementation, by allowing the second communication link to share part of the data signal uploading only when the second transmission quality index is greater than the second preset threshold, according to the first transmission frame rate, ensures that the second communication link (i.e. the control communication link) participates in data transmission only when it has sufficient carrying capacity. This avoids the second communication link from occupying control signal transmission resources due to insufficient quality to carry data signals, thus achieving the effect of balancing the transmission quality of both signals while ensuring the reliability of control signal transmission.

[0237] S103. For the remaining part of the first signal other than the first transmission frame rate, the first communication link is used to upload it to the control center.

[0238] S104. Receive the first part of the signal sent by the vehicle-mounted device through the first communication link, and receive the second part of the signal sent by the vehicle-mounted device through the second communication link.

[0239] The second part of the signal is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements.

[0240] In this step, the control center will receive the corresponding portions of the signals transmitted through the two communication links, namely the first portion of the signal and the second portion of the signal.

[0241] The second part of the signal is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements.

[0242] S105. Based on the first part of the signal and the second part of the signal, obtain the signal uploaded by the vehicle-mounted equipment.

[0243] In this step, the control center will combine the first part of the signal and the second part of the signal to obtain the original first signal uploaded by the vehicle-mounted equipment.

[0244] It should be understood that when the vehicle-mounted device uploads the first signal, it splits the first signal into two other communication links for transmission. Correspondingly, when the control center receives the first signal, it merges the two received signals to obtain the original first signal uploaded by the vehicle-mounted device.

[0245] In one possible implementation, the first signal acquired also carries a timestamp. Accordingly, the method provided in this application further includes: if the control center detects that the timestamp of the currently received signal is earlier than the timestamp of the previously received signal, then the currently received signal is discarded.

[0246] The method provided in this implementation compares the timestamp of the currently received signal with the timestamp of the last received signal by the control center. Signals with timestamps earlier than the last received signal are discarded. This ensures that the control center only processes the latest signals with correct timing, preventing old signals that arrive late due to network delays or retransmissions from mixing into the normal signal stream. This achieves the effect of ensuring the timing consistency of signal processing, preventing old signals from overwriting or interfering with the parsing and execution of the latest instructions / data, and improving the accuracy and reliability of the control center's response to onboard equipment signals.

[0247] The remote driving communication transmission system and method provided in Embodiment 1 of this application establishes a first communication link and a second communication link between the vehicle-mounted device and the control center for transmitting different types of signals. Each of the two communication links transmits its corresponding signal, which avoids the video signal's excessive bandwidth occupying the main transmission channel traffic, thus preventing delays or fluctuations in the stability of the control signal transmission. Furthermore, in this embodiment, when the vehicle-mounted device uploads or receives control signals, if the transmission quality of one communication link is poor, the other communication link is used to share the transmission of the first signal corresponding to the signal type of that link. This also achieves real-time, high-quality transmission of vehicle-side information required for remote driving, thereby ensuring the safety and reliability of remote driving.

[0248] Figure 4 This is a schematic diagram of the structure of a communication transmission system for remote driving provided in Embodiment 2 of this application, as shown below. Figure 4 As shown, the remote driving communication transmission system 20 provided in this embodiment includes a control center, an on-board device, a roadside device, a first communication link and a second communication link established between the on-board device and the control center for transmitting different types of signals, and a third communication link established between the roadside device and the on-board device and the control center respectively.

[0249] Specifically, roadside equipment is used to collect roadside video of the area where the vehicle is located and upload the roadside video to the control center via a third link to expand and enrich the driver's field of vision.

[0250] For example, roadside equipment may include a roadside camera and a roadside data signal transmission device, wherein the roadside camera is used to collect roadside video of the area where the vehicle is located, and the roadside data signal transmission device is used to upload the data signal of the roadside video to the control center.

[0251] In addition, the third communication link can be a wireless communication link built on cellular mobile communication technology (such as 5G or 4G communication links), or a fiber optic communication link, a WiFi communication link, or other forms of communication links with stable data transmission capabilities. This application does not impose any restrictions on these.

[0252] Figure 5 This is a schematic diagram of the structure of a specific remote driving communication transmission system provided in Embodiment 2 of this application, as shown below. Figure 5 As shown, based on traditional remote driving communication transmission: In the system provided in this embodiment, the vehicle-mounted equipment includes two signal transmission devices, namely a data signal transmission device and a control signal transmission device; at the same time, this system also adds a roadside device, including a roadside camera and a roadside data signal transmission device; and communication links are set up between the data signal transmission device, the control signal transmission device, and the roadside data signal transmission device and the control center; in addition, backup lines (indicated by dashed lines with arrows in the figure) are set up between the vehicle-mounted equipment data signal transmission device, the control signal transmission device, and the roadside data signal transmission device for interactive communication to achieve data sharing transmission.

[0253] Figure 6 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 2 of this application. Embodiment 2 of this application provides a communication transmission method for remote driving, applied to the system provided in Embodiment 2 of this application, such as... Figure 6 As shown, the method includes:

[0254] S201. When the vehicle-mounted equipment uploads a signal of the type corresponding to the first communication link to the control center through the first communication link, if the transmission quality of the first communication link does not meet the preset requirements, then based on the transmission quality of the first communication link, a first transmission frame rate that needs to be shared by the second communication link is determined, and based on the transmission quality of the first communication link, a second transmission frame rate that needs to be shared by the roadside equipment is determined.

[0255] The first signal is either a data signal or a control signal.

[0256] In this embodiment, the first communication link refers to the link whose transmission type corresponds to the signal to be transmitted among the two links; the second communication link refers to the other link among the two links besides the first communication link. The embodiments of this application do not strictly limit the transmission types of the first communication link and the second communication link.

[0257] Specifically, if the first signal is a data signal, then the first communication link is a data communication link for transmitting data signals, and the second communication link is a control communication link for transmitting control signals; if the first signal is a control signal, then the first communication link is a control communication link for transmitting control signals, and the second communication link is a data communication link for transmitting data signals.

[0258] In this scheme, if the on-board equipment determines that the transmission quality of the first communication link corresponding to the type of signal to be transmitted does not meet the preset requirements, it will simultaneously use the first and second communication links to share the signal transmission based on the transmission quality of the first communication link. Accordingly, in this step, the on-board equipment needs to determine the first transmission frame rate for the second communication link to share the transmission based on the transmission quality of the first communication link, and determine the second transmission frame rate that needs to be shared by the roadside equipment.

[0259] As a specific example, if the signal to be transmitted is a control signal (i.e., the first communication link is a control communication link for transmitting control signals, and the second communication link is a data communication link for transmitting data signals), then this step is as follows:

[0260] If it is determined that the transmission quality of the control communication link does not meet the preset requirements, it is determined that the control signal needs to be shared by the video transmission link and the third transmission link. Based on the transmission quality of the control communication link, the transmission frame rate of the other communication links is quantified.

[0261] As another specific example, the signal to be transmitted is a data signal (that is, at this time the first communication link is a data communication link for transmitting data signals, and the second communication link is a control communication link for transmitting control signals).

[0262] Accordingly, this step specifically involves: when the vehicle-mounted device uploads data signals to the control center via the video transmission link, if the transmission quality of the data communication link does not meet the preset requirements, then based on the transmission quality of the data communication link, the transmission frame rate that needs to be shared by the control communication link and the third communication link is determined.

[0263] In one possible implementation, the on-board equipment can determine the transmission frame rate shared by the second and third communication links using the methods described in steps 3.1 to 3.2 below:

[0264] Step 3.1: Calculate the first transmission frame rate that needs to be shared by the second communication link based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the first signal.

[0265] Step 3.2: Calculate the second transmission frame rate that needs to be shared by the third communication link based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the first signal.

[0266] It should be understood that the signal transmission capabilities of the first, second, and third communication links can be measured based on the first, second, and third transmission quality indicators, and the signal transmission frame rate can be allocated on the first, second, and third communication links based on the total signal transmission demand and with the goal of high-quality signal transmission.

[0267] In practical applications, the vehicle-mounted data transmission equipment and the remote control operation transmission equipment will continuously attempt to connect to surrounding roadside transmission equipment. If the connection is successful, the data transmission equipment and the remote control operation transmission equipment will continuously send network communication test data to the control center through the roadside transmission equipment. Therefore, a third transmission quality indicator can be determined based on the transmission quality of the test data from the roadside data signal transmission equipment. To ensure comparability between data, the specific method for determining the third transmission quality indicator will be the same as that for determining the first and second transmission quality indicators. For example, both are determined based on the network latency and packet loss rate of the communication link during signal transmission.

[0268] As a specific example, the frame rate allocation weight of each communication link can be determined directly based on the first transmission quality index, the second transmission quality index, and the third transmission quality index, and the transmission frame rate of the link can be determined according to the weight corresponding to the link.

[0269] In other words, taking the first signal as the control signal as an example, the transmission frame rate required for the control signal to be transmitted by the first communication link (i.e., the control communication link) can be calculated using the following formula.

[0270] The second communication link (i.e., the data communication link) shares the transmission frame rate of control signals. And the transmission frame rate of the third communication link for sharing the transmission of control signals. :

[0271]

[0272]

[0273]

[0274]

[0275] in, This indicates the transmission quality index of the third communication link.

[0276] Alternatively, taking the first signal as a data signal as an example, the transmission frame rate required for the data signal to be transmitted by the first communication link (i.e., the data communication link) can be calculated using the following formula. The second communication link (i.e., the control communication link) shares the transmission frame rate of data signals. And the transmission frame rate of the third communication link for data signal sharing. :

[0277]

[0278]

[0279]

[0280]

[0281] The method provided in this implementation integrates the first transmission quality index, the second transmission quality index, the third quality transmission index, and the transmission frame rate of the first signal to calculate the first transmission frame rate that the second and third communication links need to share. This allows the vehicle-mounted equipment to match the quality gap of the first link while not exceeding its own carrying capacity when utilizing the load sharing of other communication links. This achieves the effect of accurately allocating multi-link transmission tasks and ensuring the stable achievement of the total signal transmission frame rate requirement.

[0282] Optionally, in one possible implementation, if the first signal is a data signal, the second transmission quality index of the second communication link is detected, and it is determined that the second communication link needs to share the transmission only when the second transmission quality index is greater than the second preset index threshold; otherwise, only the third communication link will be used for sharing the transmission.

[0283] For example, if the first signal is a data signal, and the second transmission quality index of the second communication link is equal to or lower than the second preset index, then only the third communication link is used for load sharing. The transmission frame rate required for the data signal by the first communication link (i.e., the data communication link) can be calculated using the following formula. And the transmission frame rate of the third communication link for data signal sharing. :

[0284]

[0285]

[0286]

[0287] It should be understood that the method provided in this implementation utilizes a second communication link for load sharing transmission only when the index exceeds a second preset threshold in the data signal scenario. This ensures that the second communication link (i.e., the control communication link) participates in data transmission only when it has sufficient carrying capacity. This avoids the second communication link from occupying control signal transmission resources due to insufficient quality in carrying data signals, thus achieving the effect of ensuring the transmission reliability of control signals while taking into account the transmission quality of both types of signals.

[0288] S202. According to the first transmission frame rate, a portion of the first signal is uploaded to the control center through the second communication link, and according to the second transmission frame rate.

[0289] In this step, the vehicle-mounted equipment will upload a portion of the first signal corresponding to the first transmission frame rate to the control center via the second transmission link.

[0290] S203. A portion of the first signal corresponding to the second transmission frame rate is sent to the roadside equipment.

[0291] In this step, the vehicle-mounted device needs to send a portion of the first signal corresponding to the second transmission frame rate to the roadside device through the third communication link between the vehicle-mounted device and the roadside device.

[0292] S204. The remaining portion of the first signal, excluding the first transmission frame rate and the second transmission frame rate, is transmitted to the control center using the first communication link.

[0293] S205, Receive a portion of the first signal sent by the vehicle-mounted equipment that needs to be uploaded to the control center.

[0294] In this step, the roadside equipment will receive a portion of the first signal sent by the onboard equipment that needs to be uploaded to the control center.

[0295] Among them, a portion of the first signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the second communication link does not meet the preset requirements;

[0296] S206. Upload a portion of the first signal to the control center.

[0297] In this step, the roadside equipment transmits a portion of the first signal it receives to the control center via a third communication link between itself and the control center.

[0298] S207. Receive a first part of the signal sent by the vehicle-mounted device through a first communication link, receive a second part of the signal sent by the vehicle-mounted device through a second communication link, and receive a third part of the signal sent by the vehicle-mounted device through a third communication link.

[0299] The second part of the signal is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements; the third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the first communication link does not meet the preset requirements.

[0300] In this step, the control center will simultaneously receive partial signals from three communication links.

[0301] S208. Based on the first part of the signal, the second part of the signal, and the third part of the signal, the signal uploaded by the vehicle-mounted device is obtained.

[0302] In this step, the control center will combine the first part of the signal, the second part of the signal, and the third part of the signal to obtain the original first signal uploaded by the vehicle-mounted equipment.

[0303] The remote driving communication transmission system and method provided in Embodiment 2 of this application, based on Embodiment 1, adds a roadside device to the system for transmitting video data of the vehicle's surroundings to the control center, thereby expanding and enriching the vehicle's field of vision for the remote driver. Simultaneously, the system also adds a third communication link between the roadside device and the control center, using the roadside device as a redundancy for the first and second communication links. In scenarios where the onboard device transmits signals to the control center, if there are quality issues with the first and second communication links, this embodiment utilizes the third communication link to share the transmission of signals corresponding to the first and second communication links, further improving signal transmission quality.

[0304] Furthermore, Figure 7 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 3 of this application. Embodiment 3 of this application provides a communication transmission method for remote driving, which is applied to the system provided in Embodiment 1 of this application, such as... Figure 7 As shown, the method includes:

[0305] S301. When the control center sends a control signal to the vehicle-mounted equipment through the second communication link, if the transmission quality of the second communication link does not meet the preset requirements, the third transmission frame rate that needs to be shared by the first communication link is determined according to the transmission quality of the second communication link.

[0306] It should be noted that, unlike the aforementioned embodiments, in the method provided in this embodiment, the first communication link established between the control center and the vehicle-mounted equipment is a link for transmitting data signals (also called a data communication link); the second communication link established between the control center and the vehicle-mounted equipment is a link for transmitting control signals (also called a control communication link).

[0307] In this step, when the control center sends a control signal to the vehicle-mounted equipment through the second communication link, if it determines that the transmission quality of the second communication link does not meet the preset requirements, it directly determines the third transmission frame rate that needs to be shared by the first communication link based on the transmission quality of the second communication link.

[0308] Here, control signals refer to signals sent by the control center to the on-board equipment for controlling the vehicle. In one possible implementation, the control signals include at least one of the following: steering control signals, braking control signals, acceleration control signals, and gear shift control signals sent by the control center to the on-board equipment.

[0309] In one possible implementation, the control center can determine whether the transmission quality of the second communication link meets the preset requirements using the following method:

[0310] Based on the network delay time and packet loss rate of the control signals sent by the second communication link, determine whether the transmission quality of the second communication link meets the preset requirements.

[0311] In this implementation, the control center will quantify the transmission quality of the second communication link based on two quality evaluation indicators: network latency and packet loss rate, to determine whether the transmission quality of the second communication link meets the preset requirements.

[0312] In practical applications, the network latency and packet loss rate can be obtained by the control center through direct detection, or by the vehicle-mounted equipment or other devices that detect the network latency and packet loss rate and then send the results to the control center.

[0313] Optionally, this step may include steps 4.1 and 4.2 as follows:

[0314] Step 4.1: Calculate the second transmission quality index based on network latency and packet loss rate.

[0315] Step 4.2: If the second transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the second communication link does not meet the preset requirements.

[0316] The first preset index threshold can be the same as or different from the first preset index threshold in the aforementioned embodiments, and this application does not impose too many restrictions on it.

[0317] It should be understood that since the control center determines whether the transmission quality of the second communication link meets the preset requirements in this implementation method, the implementation means and principle are the same as those of the vehicle-mounted equipment determining whether the transmission quality of the corresponding link meets the preset requirements in the aforementioned embodiment, and will not be described in detail here.

[0318] The method provided in this implementation allows the control center to determine whether the link meets preset requirements by using two core transmission quality indicators—network latency and packet loss rate—during the process of uploading control signals on the first communication link. This enables accurate and timely perception of the real-time transmission status of the communication link, avoiding the one-sidedness of single-dimensional evaluation. It provides a reliable basis for determining the distribution of signal transmission frame rate, allowing the control center to accurately identify the transmission quality of the communication link and thus ensuring the reliability of frame rate distribution.

[0319] In another implementation, after determining the first, second, and third transmission quality indicators, the on-board equipment directly sends these quality indicator data to the control center; correspondingly, upon receiving the first and second transmission quality indicators, the control center can directly use them to judge the transmission quality and calculate the transmission frame rate.

[0320] In one possible implementation, the control center can determine the third transmission frame rate that needs to be shared by the first communication link in the following manner: calculating the third transmission frame rate that needs to be shared by the first communication link based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the control signal. Here, the first transmission quality index is an index of the current transmission quality of the first communication link.

[0321] In the specific implementation of this scheme, the control center calculates the third transmission frame rate that needs to be shared by the first communication link based on the acquired first transmission quality index, second transmission quality index, and the transmission frame rate of the control signal to be transmitted. The first and second transmission quality indices can be obtained through calculation by the control center or by being sent by the vehicle-mounted equipment or other devices.

[0322] It should be understood that the means and principles by which the control center determines the third transmission frame rate are the same as those by which the first transmission frame rate is determined when the signal is a control signal in Embodiment 1. Specific examples and explanations of the principles will not be repeated here.

[0323] The method provided in this implementation integrates the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, and the transmission frame rate of the control signal to calculate the third transmission frame rate that the first communication link needs to share. This ensures that the load sharing of the first communication link determined by the control center matches the quality gap of the second communication link without exceeding its own carrying capacity, thereby achieving the effect of accurately allocating dual-link transmission tasks and ensuring the stable achievement of the total signal transmission frame rate requirement.

[0324] S302. Based on the third transmission frame rate, a portion of the control signal is sent to the vehicle-mounted equipment via the first communication link.

[0325] In this step, the control center needs to send a portion of the control signal corresponding to the third transmission frame rate to the vehicle-mounted equipment through the first transmission link.

[0326] S303. For the remaining part of the control signal other than the third transmission frame rate, the second communication link is used to send it to the vehicle equipment.

[0327] S304. Receive the first part of the signal sent by the control center through the second communication link, and receive the second part of the signal sent by the vehicle-mounted equipment through the first communication link.

[0328] In this step, the on-board equipment will receive the corresponding portions of the signals transmitted through the two communication links, namely the first portion of the signal and the second portion of the signal.

[0329] The second part of the signal is the signal that is determined to be transmitted by the first communication link when the quality of the second communication link does not meet the preset requirements.

[0330] S305. Based on the first part of the signal and the second part of the signal, the control signal sent by the control center is obtained.

[0331] In this step, the on-board equipment will combine the first part of the signal and the second part of the signal to obtain the original control signal issued by the control center.

[0332] It should be understood that when the control center issues a control signal, the signal is split and transmitted through two other communication links. Correspondingly, when the on-board equipment receives the control signal, it combines the two received signals to obtain the original control signal issued by the control center.

[0333] The remote driving method provided in Embodiment 3 of this application achieves real-time, high-quality transmission of control information required by the control center when the control center issues control signals. If the transmission quality of the second communication link for transmitting control signals is poor, the second communication link is used to share the transmission of control signals. This ensures the safety and reliability of remote driving by enabling real-time, high-quality transmission of control information required by the control center.

[0334] Figure 8 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 4 of this application. Embodiment 4 of this application provides a communication transmission method for remote driving, which is applied to the system provided in Embodiment 2 of this application, such as... Figure 8 As shown, the method includes:

[0335] S401. When the control center sends a control signal to the vehicle-mounted equipment through the second communication link, if the transmission quality of the second communication link does not meet the preset requirements, the third transmission frame rate that needs to be shared by the first communication link is determined based on the transmission quality of the second communication link, and the fourth transmission frame rate that needs to be shared by the roadside equipment is determined based on the transmission quality of the second communication link.

[0336] In this scheme, if the control center determines that the transmission quality of the second communication link for transmitting control signals does not meet the preset requirements, it will simultaneously use the first and third communication links to share the signal transmission based on the transmission quality of the second communication link. Accordingly, in this step, the control center needs to determine the third transmission frame rate for the second communication link to share the transmission based on the transmission quality of the second communication link, and determine the fourth transmission frame rate that needs to be shared by the roadside equipment.

[0337] In one possible implementation, the control center can determine the transmission frame rate shared by the first and third communication links using the methods described in steps 5.1 to 5.2 below:

[0338] Step 5.1: Calculate the third transmission frame rate that needs to be shared by the first communication link based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the control signal.

[0339] Step 5.2: Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the control signal, calculate the fourth transmission frame rate that needs to be shared by the third communication link.

[0340] In the specific implementation of this scheme, the control center calculates the third transmission frame rate and the fourth transmission frame rate that need to be shared by the first communication link based on the acquired first transmission quality index, second transmission quality index, third transmission quality index, and the transmission frame rate of the control signal to be transmitted. The first, second, and third transmission quality indices can be obtained through calculation by the control center or by being sent by the vehicle-mounted equipment.

[0341] It should be understood that the means and principles by which the control center determines the third and fourth transmission frame rates are the same as those by which the first and second transmission frame rates are determined when the signal is a control signal in Embodiment 2. Specific examples and explanations of the principles will not be repeated here.

[0342] The method provided in this implementation integrates the first transmission quality index, the second transmission quality index, the third quality transmission index, and the signal transmission frame rate to calculate the transmission frame rate that the second and third communication links need to share. This allows the control center to match the quality gap of the first link while not exceeding its own carrying capacity when utilizing the load sharing of other communication links. This achieves the effect of accurately allocating multi-link transmission tasks and ensuring the stable achievement of the total signal transmission frame rate requirement.

[0343] S402. Based on the third transmission frame rate, a portion of the control signal is sent to the vehicle-mounted equipment via the first communication link.

[0344] In this step, the control center will send a portion of the control signal corresponding to the third transmission frame rate to the vehicle-mounted equipment through the first transmission link.

[0345] S403. Send a portion of the control signal corresponding to the fourth transmission frame rate to the roadside equipment.

[0346] In this step, the control center needs to send a portion of the control signal corresponding to the fourth transmission frame rate to the roadside equipment through the third communication link between the control center and the roadside equipment.

[0347] S404. For the remaining part of the control signal other than the third and fourth transmission frame rates, the second communication link is used to send it to the vehicle equipment.

[0348] S405, Receives a portion of the control signals sent by the control center that need to be transmitted to the vehicle-mounted equipment.

[0349] In this step, the roadside equipment will receive a portion of the control signals sent by the control center that need to be sent to the on-board equipment.

[0350] One part of the control signal is the signal that determines the roadside equipment to share the transmission when the quality of the second communication link does not meet the preset requirements.

[0351] S406. Send a portion of the control signal to the onboard equipment.

[0352] In this step, the roadside equipment transmits a portion of the received control signals to the vehicle-mounted equipment via a third communication link between the roadside equipment and the vehicle-mounted equipment.

[0353] S407. Receive the first part of the signal sent by the control center through the second communication link, and receive the second part of the signal sent by the vehicle-mounted equipment through the first communication link, and receive the first part of the signal sent by the control center through the second communication link.

[0354] The second part of the signal is the signal that is determined to be transmitted by the first communication link when the quality of the second communication link does not meet the preset requirements; the third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the second communication link does not meet the preset requirements.

[0355] In this step, the onboard equipment will simultaneously receive partial signals from three communication links.

[0356] S408. Based on the first part of the signal, the second part of the signal, and the third part of the signal, the control signal sent by the control center is obtained.

[0357] In this step, the on-board equipment will combine the first part of the signal, the second part of the signal, and the third part of the signal to obtain the original control signal issued by the control center.

[0358] In one possible implementation, the control signal received from the control center also carries a timestamp. If the on-board equipment detects that the timestamp of the currently received control signal is earlier than the timestamp of the previously received control signal, it discards the currently received control signal.

[0359] The method provided in this implementation verifies the timestamp of the received control signals from the control center by the on-board equipment, discarding current control signals with timestamps earlier than the last received signal. This ensures that the on-board equipment only executes the control commands with the latest timing, completely avoiding the risk of expired control signals being executed incorrectly due to network retransmission and delay. This achieves the goal of ensuring the timeliness and uniqueness of remote driving control commands, preventing old commands from interfering with the vehicle's real-time control decisions, and improving the safety and accuracy of remote driving from the signal execution level.

[0360] The remote driving communication transmission method provided in Embodiment 4 of this application, in the scenario where the vehicle-mounted device uploads signals to the control center, further improves the transmission quality of the control signals issued by the control center by using a third communication link to share the transmission of the control signals of the second communication link when there is a quality problem with the second communication link, based on Embodiment 3 above.

[0361] Furthermore, Figure 9 This is a flowchart illustrating the communication transmission method for remote driving provided in Embodiment 5 of this application. Embodiment 5 of this application provides a communication transmission method for remote driving, applied to the system provided in Embodiment 1 or Embodiment 2 of this application. Based on the above embodiments, as follows... Figure 9 As shown, the method provided in this embodiment further includes:

[0362] S501, Obtain the reception time difference between the control signal and the data signal transmitted simultaneously, the first transmission quality index of the first communication link, and the second transmission quality index of the second communication link.

[0363] In this embodiment, the first communication link is used to transmit data signals; the second communication link is used to transmit control signals.

[0364] Among them, control signals usually refer to the control signals sent by the control center to the vehicle-mounted equipment.

[0365] Optionally, the third transmission quality index corresponding to the third communication link can also be obtained.

[0366] In this step, for control signals and data signals sent simultaneously, the control center will obtain the reception time difference based on the timestamp of the data signal received and the difference between the timestamp of the control signal received in the signal reception response returned by the on-board equipment.

[0367] S502. Obtain a comprehensive quality score based on the receiving time difference, the first transmission quality index, and the second transmission quality index.

[0368] It should be understood that control signals and data signals sent simultaneously should arrive at the receiving end synchronously in the communication link. If there is a time difference between the reception of control signals and data signals sent simultaneously, it indicates that there are quality problems such as link congestion, signal interference, or routing fluctuations, which will cause differences in the transmission delay of different types of signals. At the same time, in scenarios such as remote driving, control signals and data signals need to be received synchronously to ensure the accuracy of decision-making. If the reception time difference is too large, it means that the synchronicity of the two types of signals is destroyed, which will seriously affect the reliability of remote control. Therefore, the occurrence of the actual reception time difference directly reflects the transmission characteristic defects of the communication link, and can be used as the core basis for evaluating the overall communication quality between the control center and the vehicle equipment.

[0369] Optionally, a comprehensive quality score can be obtained based on the reception time difference, the first transmission quality index, the second transmission quality index, and the third transmission quality index.

[0370] It should be understood that the first transmission quality indicator, the second transmission quality indicator, and the third transmission quality indicator can significantly represent the transmission quality of their respective links and can also serve as the core basis for evaluating the overall communication quality between the control center and the vehicle-mounted equipment.

[0371] As a specific example, the overall quality score can be calculated using the following formula. :

[0372]

[0373]

[0374]

[0375] in, , , l, m, and n are the preset quality weights corresponding to the second communication link, the first communication link, and the third communication link, respectively. These weights can be determined according to the actual application situation, and this application does not impose any restrictions on them. This indicates the time difference between the reception of control signals and data signals transmitted simultaneously. Indicates the timestamp of the received control signal; Indicates the timestamp of the received data signal; e and d respectively represent and The preset allocation weights can be determined according to the actual application situation, and this application does not impose any restrictions on them.

[0376] It should be understood that the larger the value of W, the worse the overall communication quality between the on-board equipment and the control center.

[0377] S503. Determine the target resolution based on the overall quality score and the preset first mapping relationship.

[0378] The first mapping relationship includes the resolutions corresponding to different quality comprehensive scores.

[0379] Specifically, in the first mapping relationship, the higher the overall quality score, the higher the corresponding resolution.

[0380] As a specific example, the target resolution can be obtained using the following mapping relationship. :

[0381]

[0382] in, Indicates the first resolution threshold. Indicates the second resolution threshold; Indicates the third resolution threshold; , as well as These represent the resolutions corresponding to different overall quality scores. It should be understood that if... If the target resolution is not limited, the vehicle-mounted equipment can transmit video data signals according to the original resolution of the video.

[0383] In one possible implementation, the control center can also obtain a maximum vehicle speed control signal based on the overall quality score and a preset second mapping relationship. The second mapping relationship includes the maximum vehicle speeds corresponding to different overall quality scores. Specifically, in the second mapping relationship, the higher the overall quality score, the greater the corresponding maximum vehicle speed; the maximum vehicle speed control signal is used to ensure that the onboard equipment controls the vehicle's speed to not exceed the target maximum vehicle speed indicated by the maximum vehicle speed control signal.

[0384] As a specific example, the control center can use the following mapping relationship to determine the target maximum vehicle speed. :

[0385]

[0386] in, Indicates the first speed threshold; Indicates the second speed threshold; Indicates the third speed threshold; , as well as These represent the maximum vehicle speeds corresponding to different overall quality ratings. It should be understood that if... If the maximum speed is not limited, the onboard equipment can control the vehicle at the original speed.

[0387] In one possible implementation, the control center can also obtain the target signal transmission frame rate based on the overall quality score and a preset third mapping relationship. The target signal transmission frame rate is used to limit the original transmission frame rate of the signals sent by the on-board equipment.

[0388] As a specific example, the control center can use the following mapping relationship to determine the target transmission frame rate. :

[0389]

[0390] in, Indicates the first frame rate threshold; This indicates the second frame rate threshold; This indicates the third frame rate threshold; , as well as These represent the transmission frame rates corresponding to different overall quality scores. It should be understood that if... If the original transmission frame rate of the signal is not limited, the vehicle-mounted equipment can transmit the signal according to the original transmission frame rate.

[0391] S504: Send the target resolution to the vehicle-mounted equipment.

[0392] In this step, the control center needs to send the determined target resolution to the vehicle-mounted equipment. Specifically, this data can be transmitted via a second communication link.

[0393] In one possible implementation, the control center will also issue the maximum vehicle speed control signal determined by the second mapping relationship.

[0394] S505, Receive the target resolution sent by the control center.

[0395] The target resolution is determined based on the overall communication quality between the onboard equipment and the control center.

[0396] In this step, the onboard equipment will receive the target resolution from the control center.

[0397] In one possible implementation, the onboard equipment may also receive a target maximum vehicle speed control signal issued by the control center.

[0398] In one possible implementation, the onboard equipment may also receive a target transmission frame rate from the control center.

[0399] S506. Adjust the resolution of the video to be transmitted to the target resolution.

[0400] In this step, the onboard equipment will adjust the resolution of the video to be transmitted to the target resolution to ensure that the driver can still stably obtain video information about the vehicle's surroundings even when the overall communication quality of the communication link is poor.

[0401] In one possible implementation, if the on-board equipment also receives a maximum speed control signal from the control center, which is determined based on the overall communication quality between the on-board equipment and the control center, the on-board equipment will also control the vehicle speed according to the target maximum speed indicated in the maximum speed control signal, so as to ensure the driving safety of the vehicle and reduce the risk of accidents caused by signal transmission deviation when the overall communication quality of the communication link is poor.

[0402] In one possible implementation, if the on-board equipment also receives a target maximum vehicle speed control signal issued by the control center, which is determined based on the overall communication quality between the on-board equipment and the control center, the on-board equipment will also adjust the transmission frame rate of the signal to be transmitted to the target transmission frame rate. This will ensure that when the overall communication quality of the communication link is poor, the transmission delay can be reduced, thereby improving the timeliness of data transmission and further ensuring driving safety.

[0403] The remote driving communication transmission method provided in this application quantifies the overall communication quality between the control center and the vehicle-mounted equipment in the control center to obtain a quality evaluation index. Based on the quality evaluation index and a preset mapping relationship, the target resolution, target maximum vehicle speed, and target transmission frame rate are determined. This allows the vehicle-mounted equipment to adjust the resolution, speed, and original transmission frame rate of the video data to be transmitted according to the target resolution, target maximum vehicle speed, and target transmission frame rate. This ensures that the video resolution, vehicle speed, and signal transmission frame rate are accurately matched with the overall quality level of the current communication link. It avoids the problems of signal transmission overload in high-resolution video and high-speed scenarios when communication quality is insufficient, or insufficient resource utilization when communication quality is sufficient. This achieves a dynamic balance between communication resource load and remote driving needs, ensuring clear and usable video images, real-time response to control commands, and safe and controllable vehicle driving during remote driving, thereby improving the overall reliability of remote driving communication transmission and driving safety.

[0404] Figure 10 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment Six of this application, as shown below. Figure 10 As shown, the remote driving communication transmission device 60 provided in this embodiment includes:

[0405] The first determining module 601 is used to determine the first transmission frame rate that needs to be shared by the second communication link when the vehicle-mounted device uploads a first signal of the corresponding type of the first communication link to the control center through the first communication link. If the transmission quality of the first communication link does not meet the preset requirements, the first transmission frame rate is determined according to the transmission quality of the first communication link. A first communication link and a second communication link for transmitting different types of signals are established between the vehicle-mounted device and the control center.

[0406] The first upload module 602 is used to upload a portion of the first signal to the control center via the second communication link according to the first transmission frame rate;

[0407] The first signal is either a data signal or a control signal.

[0408] In one possible implementation, device 60 further includes:

[0409] The second determining module 603 is used to determine whether the transmission quality of the first communication link meets the preset requirements based on the network delay time and packet loss rate of the first signal uploaded through the first communication link.

[0410] In one possible implementation, the second determining module 603 is specifically used for:

[0411] Calculate the first transmission quality index based on network latency and packet loss rate;

[0412] If the first transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the first communication link does not meet the preset requirements.

[0413] In one possible implementation, the first determining module 601 is specifically used for:

[0414] Based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the first signal, the first transmission frame rate that needs to be shared by the second communication link is calculated; wherein, the second transmission quality index is the current transmission quality index of the second communication link.

[0415] In one possible implementation, the first upload module 602 is specifically used for:

[0416] If the first signal is a data signal, then when the second transmission quality index of the second communication link is greater than the second preset index threshold, a portion of the first signal is uploaded to the control center through the second communication link according to the first transmission frame rate.

[0417] In one possible implementation, device 60 further includes:

[0418] The third determining module 604 is used to determine the second transmission frame rate that needs to be shared by the roadside equipment based on the transmission quality of the first communication link.

[0419] The second upload module 605 is used to upload a portion of the first signal to the control center through the third communication link between the roadside equipment and the control center according to the second transmission frame rate.

[0420] In one possible implementation, the first determining module 601 is specifically used for:

[0421] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the signal, the first transmission frame rate that needs to be shared by the second communication link is calculated.

[0422] Accordingly, the third determining module 604 is specifically used for:

[0423] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the first signal, the second transmission frame rate that needs to be shared by the third communication link is calculated.

[0424] In one possible implementation, the second upload module 605 is specifically used for:

[0425] A portion of the first signal corresponding to the second transmission frame rate is sent to the roadside equipment, so that the roadside equipment can upload a portion of the first signal corresponding to the second transmission frame rate to the control center through the third communication link.

[0426] In one possible implementation, device 60 further includes:

[0427] The first receiving module 606 is used to receive the target resolution sent by the control center. The target resolution is determined based on the overall communication quality between the vehicle-mounted equipment and the control center.

[0428] Accordingly, device 60 also includes:

[0429] Adjustment module 607 is used to adjust the resolution of the video to be transmitted to the target resolution.

[0430] In one possible implementation, the data signals include data signals for transmitting images sent by the on-board equipment to the control center, and / or data signals for transmitting video.

[0431] The control signals include vehicle status signals sent from the on-board equipment to the control center. The vehicle status signals include at least one of the following: actual vehicle speed signal, actual vehicle turning angle signal, and motor speed and voltage signal.

[0432] The remote driving communication transmission device 60 provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0433] Figure 11 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 7 of this application, as shown below. Figure 11 As shown, the remote driving communication transmission device 70 provided in this embodiment includes:

[0434] The first receiving module 701 is used to receive a first portion of signals sent by the vehicle-mounted equipment through a first communication link; a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted equipment.

[0435] The second receiving module 702 is used to receive a second part of the signal sent by the vehicle-mounted device through the second communication link. The second part of the signal is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements.

[0436] The acquisition module 703 is used to obtain the signal uploaded by the vehicle-mounted device based on the first part signal and the second part signal.

[0437] In one possible implementation, the device 70 further includes:

[0438] The third receiving module 704 is used to receive a third part of the signal sent by the vehicle-mounted equipment through a third communication link. The third communication link is the communication link between the control center and the roadside equipment. The third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the first communication link does not meet the preset requirements.

[0439] Accordingly, module 703 is specifically used for:

[0440] Based on the first part of the signal, the second part of the signal, and the third part of the signal, the signal uploaded by the vehicle-mounted device is obtained.

[0441] In one possible implementation, the device 70 further includes:

[0442] The first processing module 705 is used to obtain the reception time difference between the control signal and the data signal that are transmitted simultaneously, the first transmission quality index of the first communication link and the second transmission quality index of the second communication link.

[0443] A comprehensive quality score is obtained based on the reception time difference, the first transmission quality index, and the second transmission quality index.

[0444] The target resolution is determined based on the overall quality score and the preset first mapping relationship;

[0445] Send the target resolution to the vehicle-mounted equipment;

[0446] The first mapping relationship includes the resolutions corresponding to different quality comprehensive scores.

[0447] In one possible implementation, the device 70 further includes:

[0448] The second processing module 706 is used to discard the currently received signal if it detects that the timestamp of the currently received signal is earlier than the timestamp of the previously received signal.

[0449] The remote driving communication transmission device 70 provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0450] Figure 12 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 8 of this application, as shown below. Figure 12 As shown, the remote driving communication transmission device 80 provided in this embodiment includes:

[0451] The first receiving module 801 is used to receive a part of the first signal sent by the vehicle-mounted equipment that needs to be uploaded to the control center. The part of the first signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the first communication link does not meet the preset requirements.

[0452] Upload module 802 is used to upload a portion of the first signal to the control center.

[0453] The remote driving communication transmission device 80 provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0454] Figure 13 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 9 of this application, as shown below. Figure 13 As shown, the remote driving communication transmission device 90 provided in this embodiment includes:

[0455] The first determining module 901 is used to determine, based on the transmission quality of the second communication link, a third transmission frame rate that needs to be shared by the first communication link when the control center sends a control signal to the vehicle-mounted equipment via the second communication link, if the transmission quality of the second communication link does not meet preset requirements; a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted equipment.

[0456] The first sending module 902 is used to send a portion of the control signal to the vehicle-mounted equipment through the first communication link according to the third transmission frame rate.

[0457] In one possible implementation, the device 90 further includes:

[0458] The second determining module 903 is used to determine whether the transmission quality of the second communication link meets the preset requirements based on the network delay time and packet loss rate of the control signal sent by the second communication link.

[0459] In one possible implementation, the second determining module 903 is specifically used for:

[0460] Calculate the second transmission quality metric based on network latency and packet loss rate;

[0461] If the second transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the second communication link does not meet the preset requirements.

[0462] In one possible implementation, the first determining module 901 is specifically used for:

[0463] Based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the control signal, the third transmission frame rate that needs to be shared by the first communication link is calculated; wherein, the first transmission quality index is the current transmission quality index of the first communication link.

[0464] In one possible implementation, the device 90 further includes:

[0465] The third determining module 904 is specifically used to determine the fourth transmission frame rate that needs to be shared by the roadside equipment based on the transmission quality of the second communication link.

[0466] The second sending module 905 is specifically used to send a portion of the control signal to the vehicle-mounted equipment through the third communication link between the control center and the roadside equipment, according to the fourth transmission frame rate.

[0467] In one possible implementation, the first determining module 901 is specifically used for:

[0468] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the control signal, the third transmission frame rate that needs to be shared by the first communication link is calculated.

[0469] Accordingly, the third determining module 904 is specifically used for:

[0470] Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the control signal, the fourth transmission frame rate that needs to be shared by the third communication link is calculated.

[0471] In one possible implementation, the second sending module 905 is specifically used for:

[0472] A portion of the control signal corresponding to the fourth transmission frame rate is sent to the roadside equipment, so that the roadside equipment can send a portion of the control signal corresponding to the fourth transmission frame rate to the vehicle-mounted equipment through the third communication link.

[0473] In one possible implementation, the device 90 further includes:

[0474] The third processing module 906 is used to obtain the reception time difference between the control signal and the data signal transmitted simultaneously, the first transmission quality index of the first communication link and the second transmission quality index of the second communication link.

[0475] A comprehensive quality score is obtained based on the reception time difference, the first transmission quality index, and the second transmission quality index.

[0476] Based on the overall quality score and the preset second mapping relationship, the maximum vehicle speed control signal is obtained;

[0477] The second mapping relationship includes the maximum vehicle speed corresponding to different comprehensive quality scores.

[0478] The remote driving communication transmission device 90 provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0479] Figure 14 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 9 of this application, as shown below. Figure 14 As shown, the remote driving communication transmission device 100 provided in this embodiment includes:

[0480] The second receiving module 1001 is used to receive a first part of the signal sent by the control center through the second communication link; a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the vehicle-mounted equipment and the control center.

[0481] The third receiving module 1002 is used to receive a second part of the signal sent by the vehicle-mounted device through the first communication link. The second part of the signal is the signal that is determined to be shared by the first communication link when the quality of the second communication link does not meet the preset requirements.

[0482] The acquisition module 1003 is used to obtain the control signal sent by the control center based on the first part signal and the second part signal.

[0483] In one possible implementation, the device 100 further includes:

[0484] The fourth receiving module 1004 is used to receive the third part of the signal sent by the control center through the third communication link. The third communication link is the communication link between the control center and the roadside equipment. The third part of the signal is the signal that is determined to be shared by the roadside equipment when the quality of the second communication link does not meet the preset requirements.

[0485] Accordingly, module 1003 is specifically used for:

[0486] Based on the first part of the signal, the second part of the signal, and the third part of the signal, the control signal sent by the control center is obtained.

[0487] In one possible implementation, the device 100 further includes:

[0488] The fifth receiving module 1005 is used to receive the maximum vehicle speed control signal sent by the control center. The maximum vehicle speed control signal is determined based on the overall communication quality between the on-board equipment and the control center, and is used to control the vehicle speed to not exceed the target maximum vehicle speed indicated by the maximum vehicle speed control signal.

[0489] The control module 1006 is used to limit the speed of the vehicle based on the maximum vehicle speed control signal.

[0490] In one possible implementation, the device 100 further includes:

[0491] The processing module 1007 is used to discard the currently received control signal if it detects that the timestamp of the currently received control signal is earlier than the timestamp of the previously received control signal.

[0492] The remote driving communication transmission device 100 provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0493] Figure 15 This is a schematic diagram of the structure of a communication transmission device for remote driving provided in Embodiment 9 of this application, as shown below. Figure 15 As shown, the remote driving communication transmission device 110 provided in this embodiment includes:

[0494] The second receiving module 1101 is used to receive a part of the control signal sent by the control center that needs to be sent to the vehicle-mounted equipment. The part of the control signal is the signal that the control center determines to be shared by the roadside equipment when it detects that the quality of the second communication link with the vehicle-mounted equipment does not meet the preset requirements.

[0495] The sending module 1102 is used to send a portion of the control signal to the vehicle-mounted equipment.

[0496] The remote driving communication transmission device 110 provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0497] Figure 16 The structural schematic diagram of the vehicle-mounted equipment provided in this application is as follows: Figure 16 As shown, the vehicle-mounted device 120 provided in this embodiment includes at least one processor 1201 and a memory 1202. Optionally, the device 120 further includes a communication component 1203. The processor 1201, memory 1202, and communication component 1203 are connected via a bus 1204.

[0498] In a specific implementation, at least one processor 1201 executes computer execution instructions stored in memory 1202, causing at least one processor 1201 to perform the above-described method.

[0499] The specific implementation process of processor 1201 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0500] Figure 17 This is a schematic diagram of the structure of the control center equipment provided in the embodiments of this application, such as... Figure 17As shown, the control center device 130 provided in this embodiment includes at least one processor 1301 and a memory 1302. Optionally, the control center 130 also includes a communication component 1303. The processor 1301, memory 1302, and communication component 1303 are connected via a bus 1304.

[0501] In a specific implementation, at least one processor 1301 executes computer execution instructions stored in memory 1302, causing at least one processor 1301 to perform the above-described method.

[0502] The specific implementation process of processor 1301 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0503] Figure 18 This is a schematic diagram of the structure of the roadside equipment provided in the embodiments of this application, such as... Figure 18 As shown, the roadside device 140 provided in this embodiment includes at least one processor 1401 and a memory 1402. Optionally, the device 140 also includes a communication component 1403. The processor 1401, memory 1402, and communication component 1403 are connected via a bus 1404.

[0504] In a specific implementation, at least one processor 1401 executes computer execution instructions stored in memory 1402, causing at least one processor 1401 to perform the above-described method.

[0505] The specific implementation process of processor 1401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be repeated here.

[0506] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0507] The memory may include read-only memory and random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Sync Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0508] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0509] This application also provides a computer program product, including a computer program that, when executed, implements the aforementioned remote driving communication transmission method.

[0510] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the aforementioned remote driving communication transmission method.

[0511] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as SRAM, EEPROM, EPROM, PROM, ROM, magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0512] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside within an ASIC. Alternatively, the processor and the readable storage medium can exist as discrete components in a device.

[0513] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0514] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0515] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0516] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0517] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0518] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

[0519] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A communication transmission method for remote driving, characterized in that, Applied to in-vehicle equipment, wherein a first communication link and a second communication link for transmitting different types of signals are established between the in-vehicle equipment and a control center, the method includes: When the vehicle-mounted device uploads a first signal of the type corresponding to the first communication link to the control center through the first communication link, if the transmission quality of the first communication link does not meet the preset requirements, then the first transmission frame rate that needs to be shared by the second communication link is determined according to the transmission quality of the first communication link. According to the first transmission frame rate, a portion of the first signal is uploaded to the control center via the second communication link; The first signal is either a data signal or a control signal.

2. The method according to claim 1, characterized in that, The method further includes: Based on the network delay time and packet loss rate of the first signal transmitted through the first communication link, determine whether the transmission quality of the first communication link meets the preset requirements.

3. The method according to claim 2, characterized in that, The step of determining whether the transmission quality of the first communication link meets preset requirements based on the network latency and packet loss rate of the first signal transmitted through the first communication link includes: Calculate the first transmission quality index based on the network latency and the packet loss rate; If the first transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the first communication link does not meet the preset requirements.

4. The method according to claim 3, characterized in that, The step of determining the first transmission frame rate that needs to be shared by the second communication link based on the transmission quality of the first communication link includes: Based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the first signal, the first transmission frame rate that needs to be shared by the second communication link is calculated; wherein, the second transmission quality index is an index of the current transmission quality of the second communication link.

5. The method according to any one of claims 1 to 4, characterized in that, The step of uploading a portion of the first signal to the control center via the second communication link according to the first transmission frame rate includes: If the first signal is a data signal, then when the second transmission quality index of the second communication link is greater than the second preset index threshold, a portion of the first signal is uploaded to the control center through the second communication link according to the first transmission frame rate.

6. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Based on the transmission quality of the first communication link, determine the second transmission frame rate that needs to be shared by roadside equipment; According to the second transmission frame rate, a portion of the first signal is uploaded to the control center via a third communication link between the roadside equipment and the control center.

7. The method according to claim 6, characterized in that, The step of determining the first transmission frame rate that needs to be shared by the second communication link based on the transmission quality of the first communication link includes: Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the first signal, the first transmission frame rate that needs to be shared by the second communication link is calculated. The step of determining the second transmission frame rate that needs to be shared by roadside equipment based on the transmission quality of the first communication link includes: Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the first signal, the second transmission frame rate that needs to be shared by the third communication link is calculated.

8. The method according to claim 6, characterized in that, The step of uploading a portion of the first signal to the control center via a third communication link between the roadside equipment and the control center according to the second transmission frame rate includes: A portion of the first signal corresponding to the second transmission frame rate is sent to the roadside device, so that the roadside device uploads a portion of the first signal corresponding to the second transmission frame rate to the control center through the third communication link.

9. The method according to any one of claims 1 to 4, characterized in that, The first signal is a data signal for transmitting video, and the method further includes: The system receives a target resolution from the control center, the target resolution being determined based on the overall communication quality between the vehicle-mounted equipment and the control center. Before uploading a portion of the first signal to the control center via the second communication link according to the first transmission frame rate, the method further includes: Adjust the resolution of the video to be transmitted to the target resolution.

10. The method according to claims 1 to 4, characterized in that, The data signals include data signals for transmitting images sent by the vehicle-mounted equipment to the control center, and / or data signals for transmitting video. The control signal includes the vehicle status signal sent by the on-board equipment to the control center, and the vehicle status signal includes at least one of the following: actual vehicle speed signal, actual vehicle turning angle signal, and motor speed and voltage signal.

11. A remote driving communication transmission method, characterized in that, Applied to a control center, wherein a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted equipment, the method includes: The first part of the signal sent by the vehicle-mounted device is received through the first communication link; The second part of the signal is received through the second communication link, which is the signal that is determined to be transmitted by the second communication link when the quality of the first communication link does not meet the preset requirements. The signal uploaded by the vehicle-mounted device is obtained based on the first part of the signal and the second part of the signal.

12. The method according to claim 11, characterized in that, The method further includes: The third part of the signal is received through the third communication link, which is the communication link between the control center and the roadside equipment. The third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the first communication link does not meet the preset requirements. The step of obtaining the signal uploaded by the vehicle-mounted device based on the first part of the signal and the second part of the signal includes: The signal uploaded by the vehicle-mounted device is obtained based on the first part of the signal, the second part of the signal, and the third part of the signal.

13. The method according to claim 11 or 12, characterized in that, The method further includes: Acquire the reception time difference between the simultaneously transmitted control signal and data signal, the first transmission quality index of the first communication link, and the second transmission quality index of the second communication link; A comprehensive quality score is obtained based on the receiving time difference, the first transmission quality index, and the second transmission quality index. The target resolution is determined based on the overall quality score and the preset first mapping relationship; The target resolution is sent to the vehicle-mounted device; The first mapping relationship includes the resolutions corresponding to different comprehensive quality scores.

14. The method according to claim 11 or 12, characterized in that, The method further includes: If the timestamp of the currently received signal is earlier than the timestamp of the previously received signal, then the currently received signal is discarded.

15. A communication transmission method for remote driving, characterized in that, Applied to a control center, wherein a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the control center and the vehicle-mounted equipment, the method includes: When the control center sends a control signal to the vehicle-mounted device through the second communication link, if the transmission quality of the second communication link does not meet the preset requirements, then the third transmission frame rate that needs to be shared by the first communication link is determined based on the transmission quality of the second communication link. According to the third transmission frame rate, a portion of the control signal is transmitted to the vehicle-mounted device via the first communication link.

16. The method according to claim 15, characterized in that, The method further includes: Based on the network delay time and packet loss rate of the control signal sent by the second communication link, determine whether the transmission quality of the second communication link meets the preset requirements.

17. The method according to claim 16, characterized in that, The step of determining whether the transmission quality of the second communication link meets the preset requirements based on the network delay time and packet loss rate of the control signal transmitted by the second communication link includes: Calculate the second transmission quality index based on the network latency and the packet loss rate; If the second transmission quality index is less than the first preset index threshold, then it is determined that the transmission quality of the second communication link does not meet the preset requirements.

18. The method according to claim 17, characterized in that, The step of determining the third transmission frame rate that needs to be shared by the first communication link based on the transmission quality of the second communication link includes: Based on the first transmission quality index, the second transmission quality index, and the transmission frame rate of the control signal, the third transmission frame rate that needs to be shared by the first communication link is calculated; wherein, the first transmission quality index is an index of the current transmission quality of the first communication link.

19. The method according to any one of claims 15 to 18, characterized in that, The method further includes: Based on the transmission quality of the second communication link, determine the fourth transmission frame rate that needs to be shared by the roadside equipment. According to the fourth transmission frame rate, a portion of the control signal is transmitted to the vehicle-mounted equipment via the third communication link between the control center and the roadside equipment.

20. The method according to claim 19, characterized in that, The step of determining the third transmission frame rate that needs to be shared by the first communication link based on the transmission quality of the second communication link includes: Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the third transmission quality index of the third communication link, and the transmission frame rate of the control signal, the third transmission frame rate that needs to be shared by the first communication link is calculated. The step of determining the fourth transmission frame rate that needs to be shared by roadside equipment based on the transmission quality of the second communication link includes: Based on the first transmission quality index of the first communication link, the second transmission quality index of the second communication link, the second transmission quality index of the third communication link, and the transmission frame rate of the control signal, the fourth transmission frame rate that needs to be shared by the third communication link is calculated.

21. The method according to claim 19, characterized in that, The step of transmitting a portion of the control signal to the vehicle-mounted device via a third communication link between the control center and the roadside equipment according to the fourth transmission frame rate includes: A portion of the control signal corresponding to the fourth transmission frame rate is sent to the roadside device, so that the roadside device sends a portion of the control signal corresponding to the fourth transmission frame rate to the vehicle-mounted device through the third communication link.

22. The method according to any one of claims 15 to 18, characterized in that, The control signal is a maximum vehicle speed control signal, and the method further includes: Acquire the reception time difference between the simultaneously transmitted control signal and data signal, the first transmission quality index of the first communication link, and the second transmission quality index of the second communication link; A comprehensive quality score is obtained based on the receiving time difference, the first transmission quality index, and the second transmission quality index. The maximum vehicle speed control signal is obtained based on the comprehensive quality score and the preset second mapping relationship; The second mapping relationship includes the maximum vehicle speed corresponding to different comprehensive quality scores.

23. The method according to claims 15 to 18, characterized in that, The control signals include at least one of the following: steering control signals, braking control signals, speed control signals, gear shifting control signals, and lighting control signals sent by the control center to the vehicle-mounted equipment.

24. A remote driving communication transmission method, characterized in that, Applied to in-vehicle equipment, wherein a first communication link for transmitting data signals and a second communication link for transmitting control signals are established between the in-vehicle equipment and the control center, the method includes: The first part of the signal sent by the control center is received through the second communication link; The first communication link receives a second part of the signal sent by the vehicle-mounted device. The second part of the signal is the signal that is determined to be transmitted by the first communication link when the quality of the second communication link does not meet the preset requirements. Based on the first part of the signal and the second part of the signal, the control signal sent by the control center is obtained.

25. The method according to claim 24, characterized in that, The method further includes: The third part of the signal is received through the third communication link, which is the communication link between the control center and the roadside equipment. The third part of the signal is the signal that is determined to be transmitted by the roadside equipment when the quality of the second communication link does not meet the preset requirements. The step of obtaining the control signal sent by the control center based on the first part of the signal and the second part of the signal includes: Based on the first part of the signal, the second part of the signal, and the third part of the signal, the control signal sent by the control center is obtained.

26. The method according to claim 24 or 25, characterized in that, The method further includes: The system receives a maximum speed control signal from the control center. The maximum speed control signal is determined based on the overall communication quality between the on-board equipment and the control center, and is used to control the speed of the vehicle to not exceed the target maximum speed indicated by the maximum speed control signal. Based on the maximum vehicle speed control signal, the vehicle speed is limited.

27. The method according to claim 24 or 25, characterized in that, The method further includes: If the timestamp of the currently received control signal is detected to be earlier than the timestamp of the previously received control signal, then the currently received control signal is discarded.

28. A vehicle-mounted device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1 to 10 or 24 to 27.

29. A control center device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 11 to 14 or 15 to 23.

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