Device and method for supporting data transmission, electronic equipment and medium

Abstract

The invention provides a device and method for supporting data transmission, electronic equipment and a medium. A first timestamp corresponding to first frame data transmitted by a first sensor is determined to be acquired, a first prediction timestamp corresponding to second frame data is determined to be acquired based on the first timestamp, and the second frame data is adjacent frame data transmitted by the first sensor after the first frame data. And determining whether to receive the second frame data or not based on the preset frame selection period and the first prediction timestamp, and performing preset data processing on the second frame data in response to determining to receive the second frame data, so that the received sensor data can meet the frame rate requirement of preset data processing, and the user experience is improved. The overall resource utilization rate of the processor is improved; and the overall power consumption of the processor is reduced.

Description

Technical Field

[0001] This disclosure relates to computer technology, and in particular to an apparatus, method, electronic device, and medium for supporting data transmission. Background Technology

[0002] In some scenarios, it is often necessary to collect environmental information through sensors and process the collected sensor data. Taking intelligent driving scenarios as an example, information about the vehicle's driving environment is typically collected based on sensors such as visual sensors, radar (RADAR), and lidar (LiDAR) configured on the vehicle. The environmental perception is then achieved by a chip based on the sensor data collected by the vehicle's sensors, and the results of the environmental perception are used for downstream tasks such as target detection and tracking, target behavior prediction, target trajectory prediction, vehicle driving path planning, and vehicle driving control.

[0003] To achieve real-time acquisition of environmental information, sensors require a high frame rate to transmit the acquired sensor data to the processor for processing. However, due to limited computing resources and low data processing frame rates, some processors typically operate at a lower frame rate than the sensor data transmission frame rate. Consequently, sensor data transmitted at this inherent frame rate often fails to meet the processor's data processing frame rate requirements. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides an apparatus, method, electronic device, and medium that support data transmission.

[0005] A first aspect of this disclosure provides an apparatus for supporting data transmission, including a processor configured to:

[0006] Determine the first timestamp corresponding to the first frame of data transmitted by the first sensor;

[0007] Based on the first timestamp, the first predicted timestamp corresponding to the second frame data is determined. The second frame data is the adjacent frame data transmitted by the first sensor after the first frame data.

[0008] Based on the preset frame selection period and the first prediction timestamp, determine whether to receive the second frame of data;

[0009] In response to the confirmation that the second frame of data has been received, preset data processing is performed on the second frame of data.

[0010] A second aspect of this disclosure provides a method for supporting data transmission, comprising:

[0011] Determine the first timestamp corresponding to the first frame of data transmitted by the first sensor;

[0012] Based on the first timestamp, the first predicted timestamp corresponding to the second frame data is determined. The second frame data is the adjacent frame data transmitted by the first sensor after the first frame data.

[0013] Based on the preset frame selection period and the first prediction timestamp, determine whether to receive the second frame of data;

[0014] In response to the confirmation that the second frame of data has been received, preset data processing is performed on the second frame of data.

[0015] A third aspect of this disclosure provides an electronic device, comprising:

[0016] Memory, used to store computer programs;

[0017] A processor is configured to execute a computer program stored in a memory, wherein, when the computer program is executed, it implements the method of any embodiment of the method for supporting data transmission described in the second aspect of this disclosure.

[0018] A fourth aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of any embodiment of the method for supporting data transmission as described in the second aspect above.

[0019] A fifth aspect of this disclosure provides a computer program including computer-readable code, which, when executed by a processor, is capable of implementing the method of any embodiment of the method for supporting data transmission described in the second aspect above.

[0020] Based on the embodiments of this disclosure, a first timestamp corresponding to the first frame of data transmitted by the first sensor can be determined. Then, based on this first timestamp, a first predicted timestamp corresponding to the second frame of data (i.e., the adjacent frame of data transmitted by the first sensor after the first frame) can be determined. Next, based on a preset frame selection period and the first predicted timestamp, it is determined whether to receive the second frame of data. If it is determined that the second frame of data should be received, preset data processing is performed on the second frame of data. Thus, by predicting the time corresponding to the second frame of data using the timestamp of the first frame of data, and combining this with the preset frame selection period to determine whether to receive the second frame of data, the sensor data received by the processor meets the frame rate requirements of the preset data processing. This ensures that the processor only receives frame data that meets the frame rate requirements, while frame data that does not meet the frame rate requirements is not received by the processor and is also subjected to preset data processing. This effectively reduces the amount of data processed and the bandwidth resources consumed, improving the overall resource utilization of the processor and reducing its overall power consumption. Furthermore, by predicting the timestamp corresponding to the second frame of data in advance, the processor can receive the second frame of data in a timely manner, improving frame data reception efficiency.

[0021] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an application scenario applicable to the embodiments of this disclosure.

[0023] Figure 2 This is a schematic diagram of the structure of an apparatus supporting data transmission provided in an exemplary embodiment of this disclosure.

[0024] Figure 3 This is a flowchart illustrating a method for supporting data transmission configured to be performed by an apparatus for supporting data transmission according to an exemplary embodiment of the present disclosure.

[0025] Figure 4 This is a flowchart illustrating a method for supporting data transmission configured to be performed by an apparatus for supporting data transmission, as provided in another exemplary embodiment of this disclosure.

[0026] Figure 5 This is a flowchart illustrating a method for supporting data transmission configured to be performed by an apparatus for supporting data transmission, as provided in another exemplary embodiment of this disclosure.

[0027] Figure 6 This is a flowchart illustrating a method for supporting data transmission configured to be performed by an apparatus for supporting data transmission, as provided in yet another exemplary embodiment of this disclosure.

[0028] Figure 7 This is a schematic diagram illustrating the process of determining whether to receive a second frame of data by an apparatus for supporting data transmission provided in an exemplary embodiment of the present disclosure.

[0029] Figure 8 This is a schematic diagram of a process for processing a second frame of data, provided by an exemplary embodiment of the present disclosure, in which a device supporting data transmission is configured to perform such processing.

[0030] Figure 9 This is a schematic diagram illustrating the process of determining whether to perform preset data processing on a second frame of data, which is configured to be executed by an apparatus supporting data transmission provided in an exemplary embodiment of this disclosure.

[0031] Figure 10 This is a schematic diagram illustrating the process of determining whether to perform preset data processing on a second frame of data, provided by a means of supporting data transmission according to another exemplary embodiment of the present disclosure.

[0032] Figure 11 This is a schematic diagram of a process for processing fourth frame data, provided by an exemplary embodiment of the present disclosure, in which a data transmission support apparatus is configured to perform such processing.

[0033] Figure 12This is a structural diagram of an electronic device provided in an exemplary embodiment of this disclosure. Detailed Implementation

[0034] To explain this disclosure, exemplary embodiments of the disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the disclosure, and not all of them. It should be understood that the disclosure is not limited to exemplary embodiments.

[0035] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0036] This disclosure outlines

[0037] In developing this disclosure, the inventors discovered that in certain scenarios, different data transmission devices, such as chips, have different frame rate requirements. For example, in a smart driving scenario (e.g., assisted driving, autonomous driving), the DVR (Digital Video Recorder) uses a higher frame rate to achieve real-time acquisition of environmental information, while the chip that processes the acquired images uses a lower frame rate. To reduce the transmission bandwidth resources between the DVR and the chip, and to minimize unnecessary consumption of CPU (Central Processing Unit) resources in the chip, frame skipping processing is required on the frame data transmitted by the DVR to meet the chip's frame rate requirements. In another smart driving scenario, when a vehicle acquires environmental information through multiple sensors, the chip on the vehicle needs to align the multi-frame data transmitted from the sensors so that the chip can perform fusion processing based on the aligned multi-frame data to achieve environmental perception.

[0038] In related technologies, frame skipping is typically performed on frame data based on the frame sequence number received by the chip. However, in cases of abnormal frame loss from sensors, the frame sequence number fluctuates, making accurate frame skipping impossible and failing to meet the frame rate requirements of the chip's computational processing. Furthermore, in scenarios where multiple sensors transmit frame data to the chip separately, if one sensor experiences abnormal frame loss, alignment of multiple frames from different sensors becomes impossible. However, the chip still needs to process the frame data from other sensors that did not experience frame loss, resulting in wasted hardware resources.

[0039] Exemplary Applications

[0040] The apparatus and method for supporting data transmission in this disclosure can be applied to frame data transmission and processing in various application scenarios. For example, it can be used for the transmission and processing of frame data collected by sensors in scenarios such as intelligent driving and robot navigation. The apparatus for supporting data transmission can be applied to any device with data transmission support requirements. This apparatus is, for example, but not limited to, a System on a Chip (SOC), an automotive chip, or other hardware devices of various forms and architectures that support data transmission. This disclosure does not limit the specific application and implementation of the apparatus for supporting data transmission. This disclosure only uses an automotive chip as an example to illustrate the apparatus for supporting data transmission; however, it should be understood that, depending on actual needs, the aforementioned apparatus for supporting data transmission can also be other devices besides automotive chips. Furthermore, the apparatus for supporting data transmission provided in this disclosure may include a processor, such as a CPU (Central Processing Unit), or other processors of various forms and architectures, or a processing circuit with data transmission functionality within a chip.

[0041] Figure 1 This is a schematic diagram illustrating an application scenario applicable to an embodiment of this disclosure. For example... Figure 1 As shown, taking an intelligent driving scenario as an example, a device supporting data transmission (hereinafter exemplified by device 100) can be installed on an intelligent agent, which may be, for example but not limited to, an intelligent vehicle, an unmanned vehicle, an unmanned aerial vehicle, or a robot, and the intelligent agent is equipped with one or more sensors 200. Figure 1 The diagram shows multiple devices, including a downstream task processing system 300. The device 100 is coupled to the sensor 200 and the downstream task processing system 300, respectively. The downstream task processing system 300 includes, but is not limited to, at least one of the following: a domain controller, a central processing unit, an artificial intelligence processor, a server, etc.

[0042] The sensors can collect external environmental information of the intelligent agent at a relatively high predetermined frequency (referred to as the first frequency, representing the frequency at which the sensor collects data) and transmit the collected frame data to the device 100. Any one of the sensors configured in the intelligent agent can serve as the first sensor in this disclosure. Optionally, any sensor other than the first sensor among the multiple sensors configured in the intelligent agent can also serve as the second sensor in some embodiments of this disclosure. The aforementioned sensors can be vision sensors, RADAR, LiDAR, etc. Multiple sensors can be set at different locations of the intelligent agent. Multiple sensors of the same type can be used to collect environmental data from different directions of the intelligent agent. As an example, taking an intelligent vehicle as an example, four first sensors can be set at the front left, front right, rear left, and rear right of the intelligent vehicle. These first sensors are vision sensors, used to collect image data from the front left, front right, rear left, and rear right perspectives of the intelligent vehicle, respectively.

[0043] In practical applications, the data processing frame rate (which can be referred to as the second frequency, which is lower than the first frequency) corresponding to the processor 111 in device 100 is relatively low. Typically, only a portion of the frame data transmitted by the sensors is processed, and the processed frame data is transmitted to the downstream task processing system for environmental perception and other processing. The processor 111 in device 100 can acquire frame data transmitted by the sensors and receive a portion of the acquired frame data. Then, the received frame data can be processed. This processing includes, but is not limited to, stitching and / or fusion of multiple frames of data simultaneously acquired by multiple sensors. Here, the above-described processing of the frame data is merely exemplary. Furthermore, depending on actual needs, the processor can also perform other preset data processing on the frame data.

[0044] As an example, when the processor 111 in the device 100 performs frame data selection processing on the frame data transmitted by the sensor (such as the first sensor) 200, the sensor 200 can transmit the collected frame data to the processor 111 in the order of the collection time. Taking a vision sensor as an example, after acquiring the frame data transmitted by the sensor 200, the processor 111 can determine the first timestamp of the frame data arriving at the device 100. Then, based on the first timestamp, it determines the predicted timestamp of the next frame data transmitted by the sensor 200 arriving at the device 100. After that, based on the preset frame selection period and the predicted timestamp (such as the first predicted timestamp), it determines whether to receive the next adjacent frame data. If it is determined to receive, the next adjacent frame data is received, and preset data processing (such as image stitching) is performed on the next adjacent frame data, thereby filtering out part of the frame data transmitted by the sensor 200. For example, the sensor 200 transmits a frame data every 30 milliseconds, and the preset frame selection period is 60 milliseconds. Thus, by using the above method, a frame data acquired by the processor 111 can be retained every 60 milliseconds, and the frame data can be received. The remaining frame data arriving at the device 100 is discarded and is no longer received by the processor 111, nor is it subjected to preset data processing by the processor 111, thereby reducing the processing load of the processor 111.

[0045] As another example, when device 100 performs frame data alignment processing on frame data transmitted from multiple sensors (e.g., a first sensor and a second sensor) 200, the first sensor can transmit the acquired frame data to processor 111 sequentially according to the acquisition time of the first sensor. Similarly, the second sensor can transmit the acquired frame data to processor 111 sequentially according to the acquisition time of the second sensor. After acquiring the frame data transmitted by the first sensor and / or the second sensor (the first frame data and the third frame data, respectively), processor 111 can determine the first timestamp corresponding to the first frame data acquired by the first sensor. Then, based on the first timestamp, it determines the first predicted timestamp corresponding to the second frame data (the adjacent frame data transmitted after the first frame data). Then, based on a preset frame selection period and the first predicted timestamp, it determines whether to receive the second frame data. If it is determined that the second frame data will be received, preset data processing is performed on the second frame data. Furthermore, the processor 111 can determine the second timestamp corresponding to the third frame of data transmitted by the second sensor. Then, based on the second timestamp, it determines the second predicted timestamp corresponding to the fourth frame of data (the adjacent frame of data transmitted by the second sensor after the third frame). Next, based on a preset frame selection period (a common multiple of the first adjacent frame interval and the second adjacent frame interval; in the case of frame data alignment for N sensors, the preset frame selection period is a common multiple of the time intervals between adjacent frames transmitted by each of the N sensors) and the second predicted timestamp, it determines whether to receive the fourth frame of data. If it determines to receive the fourth frame of data, preset data processing can be performed on it, thereby reducing the processing load of the processor 111 and achieving time alignment of multi-sensor data. The processor 111 can then perform data processing such as splicing and fusion on the second and fourth frame of data. For example, the first sensor transmits a frame of data every 30 milliseconds, the second sensor transmits a frame of data every 45 milliseconds, and the preset frame selection period is 90 milliseconds. Thus, by using the above method, a frame of data transmitted by the first sensor can be retained every 90 milliseconds, and a frame of data transmitted by the second sensor can be retained every 90 milliseconds. The two retained frames of data are then subjected to preset data processing, and the remaining data is discarded, thereby achieving time alignment of multi-sensor data by the processor 111.

[0046] Based on the embodiments of this disclosure, the time corresponding to the second frame data is predicted by the timestamp of the first frame data, and the decision on whether to receive the second frame data is made in conjunction with a preset frame selection period. This ensures that the sensor data received by the processor meets the preset frame rate requirements for data processing. The processor only receives frame data that meets the frame rate requirements, while frame data that does not meet the requirements is not received or processed by the processor. This effectively reduces the amount of data transmitted and the bandwidth resources consumed, improving the overall resource utilization of the processor and reducing its overall power consumption. Furthermore, by predicting and obtaining the timestamp corresponding to the second frame data in advance, the processor can receive the second frame data in a timely manner, improving frame data reception efficiency.

[0047] Here, the aforementioned device 100 may be, for example, a data transmission support device described later. The data transmission support device can implement a data transmission support method. The data transmission support method described above may be, for example, a data transmission support method described later. Please refer to the following description for details, which will not be repeated here.

[0048] Exemplary embodiments

[0049] This disclosure provides an apparatus for supporting data transmission, which may include a processor. The processor can implement a method for supporting data transmission by reading executable instructions from memory and executing the executable instructions. The data transmission apparatus of this embodiment can be applied to electronic devices such as intelligent vehicles, unmanned vehicles, unmanned aerial vehicles, or robots.

[0050] Figure 2 This is a schematic diagram of a device supporting data transmission provided as an exemplary embodiment of this disclosure. Figure 2 As shown, the device 100 includes a processor 111.

[0051] Figure 3 This is a schematic flowchart illustrating a method for supporting data transmission executed by an apparatus for supporting data transmission provided in an exemplary embodiment of this disclosure. See also... Figure 3 The device supporting data transmission includes a processor 111, which can be configured to:

[0052] S201, determine the first timestamp corresponding to the first frame of data transmitted by the first sensor.

[0053] Specifically, the processor can determine the first timestamp corresponding to the first frame of data transmitted by the first sensor. For example, by reading and executing executable instructions, the processor can receive frame data transmitted by external sensors (such as the first sensor and the second sensor). Furthermore, when the processor acquires frame data, it can further determine the timestamp of the acquired frame data.

[0054] In some cases, the processor can determine the first timestamp of the arrival of the first frame of data transmitted by the first sensor at the device 100 through the receiving module. The receiving module can be a hardware circuit disposed in the processor or a software program stored in memory. If the receiving module is a software program, it can include one or more functions for processing the frame data (e.g., the first frame data) transmitted by the sensor (e.g., the first sensor). If the receiving module is a hardware circuit, it can be a dedicated logic circuit in the processor for receiving and parsing sensor data.

[0055] The first sensor can be used to acquire frame data. As an example, the first sensor could be a visual sensor for acquiring visual information about the environment. Alternatively, the first sensor could be a LiDAR for acquiring point cloud data about the environment. Or, the first sensor could be a millimeter-wave radar for acquiring distance information about the environment.

[0056] The first frame of data can be any frame of data transmitted from the first sensor to the processor. For example, if the first sensor is a vision sensor, the first frame of data can be a frame of image data. If the first sensor is a LiDAR sensor, the first frame of data can be a frame of point cloud data. If the first sensor is a millimeter-wave radar sensor, the first frame of data can be a frame of distance information.

[0057] The first timestamp can represent the time when the processor acquires the first frame of data. For example, if the first frame of data is an image frame, the first timestamp can be the time when the first pixel sub-data in the first frame arrives at device 100. If the first frame of data is a point cloud frame, the first timestamp can be the time when the first point cloud sub-data in the first frame arrives at device 100. If the first frame of data is a distance information frame, the first timestamp can be the time when the first distance sub-data in the first frame arrives at device 100. Furthermore, the first timestamp can also be the time when all the data in the first frame arrives at device 100.

[0058] In some alternative implementations, all frame data acquired by the first sensor can be transmitted to the processor. After the first sensor transmits any frame data to a data transmission-enabled device, the processor acquires that frame data and can record a timestamp of its acquisition, such as a first timestamp. However, not all frame data arriving at device 100 will be received by the processor. As an example, if the processor determines to receive frame data (e.g., the second frame data), the processor can further perform the operation of receiving the frame data (e.g., opening a receiving channel); if the processor determines not to receive the frame data, the processor can perform frame dropping processing on the frame data.

[0059] S202, based on the first timestamp, determine the first predicted timestamp corresponding to the second frame data, the second frame data being the adjacent frame data transmitted by the first sensor after the first frame data.

[0060] The processor can determine the first predicted timestamp corresponding to the second frame of data based on the first timestamp.

[0061] The second frame of data can be the next frame of data transmitted by the first sensor after the first frame of data has been transmitted, adjacent to the first frame of data. The type of the second frame of data is the same as that of the first frame of data. For example, if the first frame of data is image data, the second frame of data can also be image data; if the first frame of data is point cloud data, the second frame of data can also be point cloud data; if the first frame of data is distance information, the second frame of data can also be distance information.

[0062] The first predicted timestamp may be the time when the second frame data arrives at the device 100, which is predicted based on the first timestamp and combined with the attributes of the adjacent frame data transmitted by the first sensor (such as, but not limited to, the adjacent frame interval, frame rate, etc.).

[0063] S203, based on the preset frame selection period and the first prediction timestamp, determines whether to receive the second frame of data.

[0064] The processor can determine whether to receive the second frame of data based on a preset frame selection period and a first prediction timestamp.

[0065] The preset frame selection period can be a pre-set time interval used to determine the time interval between two adjacent frames of data received by the processor, that is, a frame of data is selected for reception and preset data processing every time interval.

[0066] In some optional implementations, the processor can compare the first predicted timestamp with a preset frame selection period to determine whether the first predicted timestamp is within the valid reception time window of the preset frame selection period. If it is within the window, the processor receives the second frame data; otherwise, it does not receive the second frame data. Alternatively, the processor can calculate the start and end reception times of each preset frame selection period based on the preset frame selection period, and check whether the first predicted timestamp falls within the range between the start and end reception times of a certain preset frame selection period. If the first predicted timestamp falls within this range, the processor receives the second frame data; otherwise, it does not receive the second frame data.

[0067] Here, by combining the preset frame selection period and the first predicted timestamp, it is determined whether to receive the second frame data. The preset frame selection period can be set according to the frame rate requirements and the frame data can be filtered. When the device supporting data transmission is a chip, it is possible to avoid receiving too much unnecessary frame data, reduce the chip's bandwidth and the unnecessary consumption of the CPU in the chip, and effectively alleviate the problem of chip resource waste.

[0068] S204, in response to determining that the second frame of data has been received, performs preset data processing on the second frame of data.

[0069] The processor can perform preset data processing on the second frame data through software programs or hardware circuits when it determines that the second frame data has been received.

[0070] The preset data processing can be any one or more pre-defined data processing methods. As an example, the preset data processing may include at least one of the following: image recognition, feature extraction, data compression, transmitting the second frame data to other programs or circuits, etc.

[0071] In this embodiment, the processor can determine the first timestamp corresponding to the first frame of data transmitted by the first sensor. Then, based on this first timestamp, it determines the first predicted timestamp corresponding to the second frame of data (i.e., the adjacent frame of data transmitted by the first sensor after the first frame). Next, based on a preset frame selection period and the first predicted timestamp, it determines whether to receive the second frame of data. If it determines to receive the second frame of data, it performs preset data processing on the second frame. Thus, by predicting the time corresponding to the second frame of data using the timestamp of the first frame and combining this with the preset frame selection period to determine whether to receive the second frame, the processor ensures that the sensor data received by the processor meets the frame rate requirements of the preset data processing. This means the processor only receives frame data that meets the frame rate requirements, while frame data that does not meet the frame rate requirements is not received or processed. This effectively reduces the amount of data transmitted and the bandwidth resources consumed, improving the overall resource utilization and power consumption of the processor. Furthermore, by predicting the timestamp corresponding to the second frame of data in advance, the processor can receive the second frame of data in a timely manner, improving frame data reception efficiency.

[0072] In some optional implementations of this embodiment, such as Figure 4 As shown above, in the above Figure 3 Based on the illustrated embodiment, S202 may include:

[0073] S2021, based on the first timestamp and the first adjacent frame interval, determine the first predicted timestamp corresponding to the second frame data; wherein, the first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor.

[0074] The first adjacent frame interval can be used to describe the time interval between two adjacent frames of data (such as the first frame and the second frame) during the transmission of frame data by the first sensor. For example, the first adjacent frame interval can be the time difference from the start of the transmission of the first frame to the start of the transmission of the second frame. Alternatively, the first adjacent frame interval can also be the average of the time differences between the arrival times of two adjacent frames of data transmitted by the first sensor at the device 100.

[0075] In some alternative implementations, the processor can add the first timestamp to the first adjacent frame interval and use the result as the first predicted timestamp. Alternatively, the processor can monitor the time intervals between multiple sets of adjacent frame data (e.g., 5 consecutive sets) transmitted by the first sensor in real time, determine the deviation of the first adjacent frame interval based on the real-time monitored time intervals, and then determine the first predicted timestamp of the second frame data arriving at the device 100 based on the deviation, the first timestamp, and the first adjacent frame interval.

[0076] It is understandable that, in the above-mentioned optional implementation methods, the first adjacent frame interval can truly reflect the time interval pattern of adjacent frame data. Based on this, the first predicted timestamp can be determined, which can improve the accuracy of determining the first predicted timestamp. This makes the calculated first predicted timestamp closer to the actual arrival time of the second frame data. In turn, it improves the accuracy of subsequent judgments on whether to receive the second frame data based on the preset frame selection period, reduces the situation of false reception or missed reception caused by prediction time errors, further ensures the reliability of frame selection, and can better reduce the consumption of transmission bandwidth and CPU processing resources.

[0077] Optionally, the first predicted timestamp of the arrival of the second frame data at the device 100 can also be determined based on the first timestamp and the frame rate of the first sensor's transmission of frame data.

[0078] In some optional implementations of this embodiment, such as Figure 5 As shown above, in the above Figure 3 Based on the illustrated embodiment, in S204, in response to determining that a second frame of data has been received, performing preset data processing on the second frame of data may include:

[0079] S2041, in response to determining that the second frame data has been received, the first receiving channel is turned on, and the second frame data is received through the first receiving channel to perform preset data processing on the second frame data.

[0080] The first receiving channel can be a physical or logical channel in a device that supports data transmission for receiving frame data (such as first frame data and second frame data) transmitted by the first sensor.

[0081] In some alternative implementations, the means supporting data transmission may include one or more receiving channels, such as a first receiving channel and a second receiving channel. Thus, the processor can acquire frame data from sensors (e.g., a first sensor and a second sensor) through these receiving channels. For example, the first receiving channel can be used to transmit frame data from the first sensor. The second receiving channel can be used to transmit frame data from another sensor (e.g., a second sensor).

[0082] In some alternative implementations, when it is determined that the second frame of data will be received, the processor can send a specific level control signal (e.g., a high-level control signal) to the first receiving channel. Upon receiving this specific level control signal, the first receiving channel switches to the enabled state, allowing data transmission. Alternatively, devices supporting data transmission can also control the first receiving channel to be enabled via software instructions. For example, after determining that the second frame of data will be received, an enable instruction code can be written to the control register corresponding to the first receiving channel. The first receiving channel reads the instruction code and executes the enable operation, thus enabling the channel.

[0083] S2042, in response to determining that the second frame of data will not be received, controls the first receiving channel to be turned off.

[0084] In some alternative implementations, when it is determined that the second frame of data will not be received, the processor can send another specific level control signal (e.g., a low-level control signal) to the first receiving channel. Upon detecting this level control signal, the first receiving channel switches to a closed state. Alternatively, after determining that the second frame of data will not be received, a shutdown command can be sent to the control port of the first receiving channel via software. Upon receiving the shutdown command, the first receiving channel stops data reception-related operations, closes the data input interface, and thus shuts down the channel.

[0085] It is understandable that, in the above-mentioned optional implementation methods, if it is determined that the second frame of data will be received, the first receiving channel can be turned on and the second frame of data can be received through this channel, ensuring accurate and stable reception of the second frame of data and reducing the risk of data transmission failure or data loss. Furthermore, if it is determined that the second frame of data will not be received, the first receiving channel can be turned off, which can block the reception of the second frame of data from a physical or logical level, preventing invalid data from occupying CPU processing resources and transmission bandwidth, further reducing unnecessary resource consumption.

[0086] Optionally, if it is determined that the second frame of data will be received, the data receiving buffer corresponding to the first sensor in the device supporting data transmission can be activated, and the second frame of data can be stored in the data receiving buffer. If it is determined that the second frame of data will not be received, the data receiving buffer can be disabled, so that it does not receive or store any second frame of data from the first sensor during the disabled period. For example, when it is determined that the second frame of data will be received, the data receiving buffer is activated so that the second frame of data can be transmitted to the data receiving buffer; when it is determined that the second frame of data will not be received, the data receiving buffer is disabled, and any data transmitted will be rejected and stored.

[0087] In some optional implementations of this embodiment, such as Figure 6 As shown above, in the above Figure 3 Based on the illustrated embodiment, S203 may include:

[0088] S2031, based on the preset frame selection period and the first predicted timestamp, determine the first timestamp phase corresponding to the second frame data. The preset frame selection period is an integer multiple of the first adjacent frame interval, and the first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor.

[0089] The first timestamp phase can represent the time position of the first predicted timestamp within the preset frame selection period, that is, the time offset of the first predicted timestamp relative to the start time of the preset frame selection period.

[0090] As an example, the preset frame selection period can be 4 times, 5 times, or the interval between the first adjacent frames.

[0091] In some optional implementations, the first predicted timestamp can be divided by a preset frame selection period, and the remainder is taken as the first timestamp phase corresponding to the second frame data. For example, if the first predicted timestamp is 125ms and the preset frame selection period is 100ms, 125ms ÷ 100ms = 1 remainder 25ms, thus determining the first timestamp phase to be 25ms. Alternatively, when the preset frame selection period has a start time reference (such as a specific moment as the start point of the preset frame selection period), the time difference between the first predicted timestamp and the start time of the most recent preset frame selection period is calculated, and this time difference is taken as the first timestamp phase. For example, if the preset frame selection period starts at 100ms and the first predicted timestamp is 125ms, the time difference of 25ms is the first timestamp phase.

[0092] S2032, based on the first timestamp phase, determines whether to receive the second frame of data.

[0093] In some optional implementations, a target timestamp phase range (e.g., 0ms-50ms) can be preset. The calculated first timestamp phase is compared with this target timestamp phase range. If the first timestamp phase falls within the target timestamp phase range, it is determined that the second frame of data will be received; otherwise, it is determined that the second frame of data will not be received. Alternatively, the receivable timestamp phase threshold can be dynamically adjusted. The first timestamp phase is compared with the dynamic threshold. If the first timestamp phase is less than or equal to the dynamic threshold, it is determined that the second frame of data will be received; otherwise, it is not received. This solution is suitable for scenarios where requirements change.

[0094] It is understandable that in the above-mentioned optional implementation methods, setting the preset frame selection period to an integer multiple of the first adjacent frame interval ensures that the preset frame selection period matches the transmission pattern of frame data by the first sensor (i.e., the first adjacent frame interval). This avoids the problem of ineffective frame selection caused by incompatibility between the preset frame selection period and the first adjacent frame interval, making frame selection more consistent with the actual transmission situation of the first sensor. Furthermore, by calculating the first timestamp phase, the first predicted timestamp is converted into a relative time position within the preset frame selection period. This makes frame selection judgment no longer dependent on absolute time, but based on the phase relationship within the period, thereby improving the flexibility and adaptability of frame selection judgment and better meeting the frame selection needs in different scenarios. In addition, determining whether to receive the second frame data based on the first timestamp phase makes the judgment basis more specific and clear, improving the accuracy and consistency of frame selection judgment, further ensuring that the received frame data meets the frame selection requirements, and reducing resource waste.

[0095] In some application scenarios of the above-mentioned optional implementation methods, such as Figure 7 As shown above, in the above Figure 6 Based on the illustrated embodiment, S2032 may include:

[0096] S10, based on the first adjacent frame interval and the preset frame selection period, determine the target frame timestamp phase corresponding to the first sensor. The target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions.

[0097] The target frame timestamp phase is a standard timestamp phase value determined based on the first adjacent frame interval and the preset frame selection period, combined with the transmission and reception conditions. It serves as the benchmark for judging whether the first timestamp phase meets the reception or transmission conditions. It can represent the time position of frame data that meets the reception or transmission requirements under ideal conditions within the preset frame selection period.

[0098] Transmit / receive conditions can represent the conditions under which the processor receives frame data, and / or, transmit / receive conditions can represent the conditions under which preset data processing is performed on the frame data. As an example, transmit / receive conditions could be: "Receive one frame of data every 20-30ms".

[0099] In some optional implementations, a multiple of the preset frame selection period and the first adjacent frame interval can be determined. Any multiple less than or equal to this multiple that meets the transmission and reception conditions can be selected, and the selected multiple can be multiplied by the first adjacent frame interval. The result of this multiplication is used as the target frame timestamp phase. For example, if the preset frame selection period is 100ms, four times the first adjacent frame interval of 25ms, and the transmission and reception conditions state "receive one frame of data every 20-30ms," then since the phase corresponding to selecting 1 times the interval is 1 × 25ms = 25ms, and this phase meets the transmission and reception conditions, this 25ms phase can be determined as the target frame timestamp phase.

[0100] S20, based on the first adjacent frame interval, determine the phase window corresponding to the first sensor, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions.

[0101] The phase window can be a time range determined based on the first adjacent frame interval. This range is centered on the target frame timestamp phase (or set based on the target frame timestamp phase). It represents the maximum range within which the first timestamp phase is allowed to deviate from the target frame timestamp phase while meeting the transmission and reception conditions. In other words, if the first timestamp phase is within this phase window, it is still considered to meet the transmission and reception conditions. As an example, if the first adjacent frame interval is 25ms and the phase corresponding to the phase window is determined to be 10ms, then when the target frame timestamp phase is 25ms, the first timestamp phase is considered to meet the transmission and reception conditions if it is within the range of 15ms-35ms.

[0102] In some optional implementations, the phase window size can be determined based on a fixed percentage (e.g., 20%) of the first adjacent frame interval. That is, the phase corresponding to the phase window = first adjacent frame interval × fixed percentage. For example, if the first adjacent frame interval is 25ms and the fixed percentage is 20%, the phase corresponding to the phase window = 25ms × 20% = 5ms. Therefore, the phase window can be determined to be the range from the target frame timestamp phase - 5ms to the target frame timestamp phase + 5ms. Furthermore, considering the transmission delay fluctuation range of the first sensor, the maximum time deviation between two adjacent frames transmitted by the first sensor can also be obtained through actual testing, and this maximum time deviation can be determined as the phase window size. For example, if the test shows that the maximum time deviation of the first sensor's frame data transmission is 8ms, then the phase corresponding to the phase window can be set to 8ms. Therefore, the phase window can be determined to be the range from the target frame timestamp phase - 8ms to the target frame timestamp phase + 8ms.

[0103] S30, based on the first timestamp phase, the target frame timestamp phase, and the phase window, determines whether to receive the second frame data.

[0104] In some optional implementations, the difference between the first timestamp phase and the target frame timestamp phase can be calculated. If the absolute value of this difference is less than or equal to the phase corresponding to the phase window, then it is determined that the second frame data will be received; if the absolute value of this difference is greater than the phase corresponding to the phase window, then it is determined that the second frame data will not be received. For example, if the target frame timestamp phase is 25ms, the phase corresponding to the phase window is 10ms, and the first timestamp phase is 30ms, and the absolute value of the difference is 5ms ≤ 10ms, then it is determined that the second frame data will be received. Alternatively, it can be determined whether the first timestamp phase is within the range of [target frame timestamp phase - phase corresponding to the phase window, target frame timestamp phase + phase corresponding to the phase window]. If it is within this range, then it is determined that the second frame data will be received; if it is outside this range, then it is determined that the second frame data will not be received. For example, the target frame timestamp phase is 25ms, the phase window corresponding to the phase is 10ms, the interval range is 15ms-35ms, and the first timestamp phase is 36ms. Since the first timestamp phase of 36ms exceeds the interval range of 15ms-35ms, it can be determined that the second frame data will not be received.

[0105] It is understandable that, in the above application scenario, determining the target frame timestamp phase based on the first adjacent frame interval and the preset frame selection period ensures that the target frame timestamp phase is determined by the transmission pattern of the first sensor (i.e., the first adjacent frame interval) and the preset frame selection period. This provides a more accurate benchmark for frame selection judgment and avoids arbitrariness in setting the target frame timestamp phase. Determining the phase window based on the first adjacent frame interval takes into account the time deviation in actual transmission, providing a reasonable tolerance for frame selection judgment, reducing the loss of effective data due to minor deviations, and improving the flexibility and reliability of frame selection. Determining whether to receive the second frame data based on the first timestamp phase, the target frame timestamp phase, and the phase window provides a clear standard for the judgment process, avoiding errors caused by subjective judgment based on human experience, and improving the accuracy and consistency of the judgment results. Simultaneously, this judgment mechanism further ensures that the received frame data meets the transmission and reception conditions, satisfying the frame rate requirements for preset data processing, reducing resource waste, and improving the overall performance of the processor.

[0106] In some optional implementations of this embodiment, such as Figure 8 As shown above, in the above Figure 3 Based on the illustrated embodiment, S204 performs preset data processing on the second frame data, which may include:

[0107] S40, determine the actual timestamp corresponding to the second frame of data.

[0108] The actual timestamp can be the time information recorded by the processor when the second frame of data actually arrives at the device 100 (e.g., when the first pixel of the second frame of data arrives at the device 100).

[0109] In some alternative implementations, when the first pixel information of the second frame data arrives at device 100, the processor can capture the current system time and record it as the actual timestamp. Alternatively, the processor can synchronize with an external clock; when the second frame data arrives at device 100, the processor sends a time query request to the external clock, the external clock returns the current time, and the processor determines the returned current time as the actual timestamp.

[0110] S50 determines whether to perform preset data processing on the second frame data based on the actual timestamp and the preset frame selection period.

[0111] In some optional implementations, the remainder between the actual timestamp and a preset frame selection period (i.e., the phase of the actual timestamp) can be calculated. A valid phase range is preset. If the phase of the actual timestamp falls within the valid phase range, then preset data processing is performed on the second frame data; otherwise, preset data processing is not performed on the second frame data. For example, if the preset frame selection period is 100ms, the valid phase range is 0ms-50ms, the actual timestamp is 130ms, and the remainder is 30ms, then preset data processing on the second frame data can be performed. Alternatively, the time interval of each transmission period can be calculated based on the preset frame selection period (e.g., the first 50ms of each preset frame selection period is the time interval of the transmission period). It can then be determined whether the actual timestamp falls within the time interval of a certain transmission period. If it does, then preset data processing on the second frame data is performed; otherwise, preset data processing is not performed.

[0112] S60, in response to determining that preset data processing will be performed on the second frame data, a frame sequence number of the second frame data is generated, and in response to the completion of receiving the second frame data, preset data processing is performed on the second frame data based on the frame sequence number.

[0113] The frame sequence number can be a unique identifier assigned to the second frame of data that meets the transmission and reception conditions. This frame sequence number can be generated according to the time sequence of frame data reception or a preset numbering rule, and is used to distinguish different frame data, facilitating the sorting, tracking, management, and splicing of frame data.

[0114] In some optional implementations, once the second frame of data has been received, the processor can perform preset data processing on the second frame of data based on the frame sequence number, such as image recognition, feature extraction, data compression, and transmitting the second frame of data to other programs or circuits.

[0115] S70, in response to determining that the second frame data will not be processed by the preset data processing, performs frame dropping processing on the second frame data.

[0116] Frame dropping processing can be: after determining that the second frame data will not be processed by the preset data, the second frame data will be cleared or discarded. For example, frame dropping processing can include deleting the second frame data from the memory, stopping further processing of the second frame data, etc., to ensure that invalid data (second frame data) does not occupy resources.

[0117] In some alternative implementations, after determining that the second frame data will not be subject to preset data processing, a clearing or discarding operation can be performed on the second frame data to achieve frame dropping processing. For example, the second frame data can be deleted from the memory or further processing of the second frame data can be stopped.

[0118] In some alternative implementations, a clear command can be sent directly to the memory storing the second frame data. Upon receiving the clear command, the memory will delete all the stored second frame data, freeing up cache space and completing the frame drop handling. Alternatively, the second frame data can be marked as invalid, and the marked invalid second frame data can be automatically cleaned up and deleted in the subsequent garbage collection mechanism, while releasing the related processing resources, thus achieving frame drop handling.

[0119] It is understandable that in the above-mentioned optional implementation methods, after determining the actual timestamp of the second frame data, the decision to send the second frame data is made again based on the actual timestamp and the preset frame selection period. Compared with judging solely based on the predicted timestamp, this can correct prediction deviations and ensure that only the second frame data whose actual arrival time at device 100 meets the requirements is processed for preset data. This improves the accuracy of the timing for processing the second frame data and avoids the second frame data that does not meet the requirements from affecting subsequent processing. Secondly, when it is determined that the second frame data will be sent, a corresponding frame sequence number is generated, and the second frame data is processed for preset data based on the frame sequence number after data reception is completed. The frame sequence number provides a sequential identifier for the frame data, which can prevent frame data from being out of order and ensure the normal progress of preset data processing. When it is determined that the second frame data will not be sent, frame dropping processing is performed on the second frame data, which can promptly remove invalid data. In the case where the device supporting data transmission is a chip, the chip's storage and processing resources can be released, avoiding resource waste and data accumulation, and improving the reliability and efficiency of the entire processor's frame data processing.

[0120] Optionally, upon determining that the second frame of data has been received, the integrity of the second frame of data after arriving at device 100 can be detected first, and a data integrity identifier can be generated (e.g., complete identifier 1, incomplete identifier 0). Based on the data integrity identifier and the actual timestamp, it can be determined whether to perform preset data processing on the second frame of data. In response to determining that preset data processing should be performed on the second frame of data, a timestamp tag (containing actual timestamp information) is added to the second frame of data, and in response to the completion of receiving the second frame of data, preset data processing is performed on the second frame of data based on the timestamp tag. In response to determining that preset data processing should not be performed on the second frame of data, the second frame of data is marked as invalid data, and the invalid data information is recorded in the log. For example, if the integrity identifier of the second frame of data is 1 and the actual timestamp meets the requirements, it is sent after adding a timestamp tag; if the integrity identifier of the second frame of data is 0, it is marked as invalid data.

[0121] In some application scenarios of the above-mentioned optional implementation methods, such as Figure 9 As shown above, in the above Figure 8 Based on the illustrated embodiment, S50 may include:

[0122] S501, based on the actual timestamp and the preset frame selection period, determine the second timestamp phase corresponding to the second frame data. The preset frame selection period is an integer multiple of the first adjacent frame interval. The first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor.

[0123] The second timestamp phase can represent the specific time position of the actual timestamp within the preset frame selection period, that is, the time offset of the actual timestamp relative to the start time of the preset frame selection period.

[0124] In some optional implementations, a modulo operation can be used, dividing the actual timestamp by a preset frame selection period and using the remainder as the second timestamp phase. For example, if the actual timestamp is 235ms and the preset frame selection period is 100ms, 235ms ÷ 100ms = 2 remainder 35ms, then the second timestamp phase is 35ms. Alternatively, if the preset frame selection period has a fixed sequence of start times (instantaneously, each preset frame selection period starts at a time on the order of hundreds of milliseconds), the time difference between the actual timestamp and the start time of the most recent preset frame selection period is calculated, and this time difference is used as the second timestamp phase. For example, if the preset frame selection period starts at 200ms and the actual timestamp is 235ms, then the time difference of 35ms can be determined as the second timestamp phase.

[0125] S502, based on the second timestamp phase, determines whether to perform preset data processing on the second frame data.

[0126] In some optional implementations, a predefined phase range for the allowed second timestamp (e.g., 30ms-60ms) can be established. The calculated second timestamp phase is compared with this phase range. If the second timestamp phase falls within this range, predefined data processing is performed on the second frame data; otherwise, no predefined data processing is performed. For example, if the second timestamp phase is 35ms, falling within the 30ms-60ms range, predefined data processing can be performed on the second frame data. Alternatively, a threshold for the receivable second timestamp phase can be dynamically adjusted. If the second timestamp phase is less than or equal to this threshold, predefined data processing is performed on the second frame data; otherwise, no predefined data processing is performed on the second frame data.

[0127] Understandably, in the above application scenario, the preset frame selection period is an integer multiple of the interval between the first adjacent frames. This ensures that the calculation of the second timestamp phase matches the frame transmission pattern of the first sensor, avoiding meaningless phase calculations or discrepancies with actual transmission conditions due to period incompatibility. This provides a reasonable basis for subsequently determining the second timestamp phase corresponding to the second frame data. By calculating the second timestamp phase, the actual timestamp is transformed into a relative time position within the preset frame selection period. This changes the judgment basis from absolute time to relative phase within the period, improving the flexibility and adaptability of the judgment and better addressing the transmission requirements in different scenarios. Judging whether to send the second frame data based on the second timestamp phase provides a clear standard for the judgment process, improving the accuracy and consistency of the judgment results. Simultaneously, this judgment method further filters out frame data that meets the requirements, ensuring that the frame data undergoing preset data processing is the frame data whose actual arrival time at device 100 meets the phase requirements. This provides a guarantee for more efficient preset data processing and reduces the resource consumption of non-compliant frame data.

[0128] In some examples of the above application scenarios, such as Figure 10 As shown above, in the above Figure 9 Based on the illustrated embodiment, S502 may include:

[0129] S5011, based on the first adjacent frame interval and the preset frame selection period, determine the target frame timestamp phase corresponding to the first sensor, wherein the target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions.

[0130] The target frame timestamp phase is a standard timestamp phase value determined based on the first adjacent frame interval and the preset frame selection period, combined with the transmission and reception conditions. It serves as the benchmark for judging whether the first timestamp phase meets the reception or transmission conditions. It can represent the time position of frame data that meets the reception or transmission requirements under ideal conditions within the preset frame selection period.

[0131] Transmit / receive conditions can represent the conditions under which the processor receives frame data, and / or, the conditions under which the processor performs preset data processing on the frame data. As an example, the transmit / receive conditions could be: "Receive one frame of data every 20-30ms".

[0132] In some optional implementations, a multiple of the preset frame selection period and the first adjacent frame interval can be determined. Any multiple less than or equal to this multiple that meets the transmission and reception conditions can be selected, and the selected multiple can be multiplied by the first adjacent frame interval. The result of this multiplication is used as the target frame timestamp phase. For example, if the preset frame selection period is 100ms, four times the first adjacent frame interval of 25ms, and the transmission and reception conditions state "receive one frame of data every 20-30ms," then since the phase corresponding to selecting 1 times the interval is 1 × 25ms = 25ms, and this phase meets the transmission and reception conditions, this 25ms phase can be determined as the target frame timestamp phase.

[0133] S5012, based on the first adjacent frame interval, determine the phase window corresponding to the first sensor, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions.

[0134] The phase window can be a time range determined based on the first adjacent frame interval. This range is centered on the target frame timestamp phase (or set based on the target frame timestamp phase). It represents the maximum range within which the first timestamp phase is allowed to deviate from the target frame timestamp phase while meeting the transmission and reception conditions. In other words, if the first timestamp phase is within this phase window, it is still considered to meet the reception conditions. As an example, if the first adjacent frame interval is 25ms and the phase corresponding to the phase window is determined to be 10ms, then when the target frame timestamp phase is 25ms, the first timestamp phase within the range of 15ms-35ms is considered to meet the reception conditions.

[0135] In some optional implementations, the phase window size can be determined based on a fixed percentage (e.g., 20%) of the first adjacent frame interval. That is, the phase corresponding to the phase window = first adjacent frame interval × fixed percentage. For example, if the first adjacent frame interval is 25ms and the fixed percentage is 20%, the phase corresponding to the phase window = 25ms × 20% = 5ms. Therefore, the phase window can be determined to be the range from the target frame timestamp phase - 5ms to the target frame timestamp phase + 5ms. Furthermore, considering the transmission delay fluctuation range of the first sensor, the maximum time deviation between two adjacent frames transmitted by the first sensor can also be obtained through actual testing, and this maximum time deviation can be determined as the phase window size. For example, if the test shows that the maximum time deviation of the first sensor's frame data transmission is 8ms, then the phase corresponding to the phase window can be set to 8ms. Therefore, the phase window can be determined to be the range from the target frame timestamp phase - 8ms to the target frame timestamp phase + 8ms.

[0136] S5013, based on the second timestamp phase, the target frame timestamp phase, and the phase window, determines whether to perform preset data processing on the second frame data.

[0137] In some optional implementations, the difference between the second timestamp phase and the target frame timestamp phase can be calculated. If the absolute value of this difference is less than or equal to the phase corresponding to the phase window, then it is determined that the second frame data will undergo preset data processing; if the absolute value of this difference is greater than the phase corresponding to the phase window, then it is determined that the second frame data will not undergo preset data processing. For example, if the target frame timestamp phase is 25ms, the phase corresponding to the phase window is 10ms, and the second timestamp phase is 30ms, and the absolute value of the difference is 5ms ≤ 10ms, then it is determined that the second frame data will undergo preset data processing. Alternatively, it can be determined whether the second timestamp phase is within the range of [target frame timestamp phase - phase corresponding to the phase window, target frame timestamp phase + phase corresponding to the phase window]. If it is within this range, then it is determined that the second frame data will undergo preset data processing; if it is outside this range, then it is determined that the second frame data will not undergo preset data processing. For example, the target frame timestamp phase is 25ms, the phase window corresponding to the phase is 10ms, the interval range is 15ms-35ms, and the second timestamp phase is 36ms. Since the second timestamp phase of 36ms exceeds the interval of 15ms-35ms, it can be determined that the second frame data will not be subject to preset data processing.

[0138] As can be understood, in the above example, determining the target frame timestamp phase based on the first adjacent frame interval and the preset frame selection period provides a more accurate benchmark for determining whether to perform preset data processing on the second frame data. This avoids the blindness of setting the target frame timestamp phase and ensures that frame data conforming to the target frame timestamp phase can meet the transmission and reception conditions. Determining the phase window based on the first adjacent frame interval fully considers the time deviation that exists in the actual transmission process, providing a reasonable fault tolerance space for the judgment, reducing the situation where valid frame data is mistakenly judged as not being sent due to small time fluctuations, and improving the flexibility and reliability of the judgment. Determining whether to perform preset data processing on the second frame data based on the second timestamp phase, the target frame timestamp phase, and the phase window makes the judgment process have clearer logic and standards, avoids errors in human judgment, and improves the accuracy and consistency of the judgment results. This judgment mechanism further filters frame data whose actual arrival time at device 100 meets the requirements, ensuring that the frame data undergoing preset data processing is compliant frame data, providing a guarantee for more efficient preset data processing, and also further reducing the resource occupation of ineligible frame data, improving the frame data processing performance of the processor.

[0139] In some optional implementations of this embodiment, the processor may further perform frame selection processing on the frame data transmitted by the second sensor, so as to achieve time alignment of the frame data transmitted by the first sensor and the frame data transmitted by the second sensor by setting a preset frame selection period. For example... Figure 11 As shown above, in the above Figure 3 Based on the illustrated embodiment, the processor can be further configured as follows:

[0140] S206, determine the second timestamp corresponding to the third frame of data transmitted by the second sensor.

[0141] The processor can determine the second timestamp of the arrival of the third frame of data transmitted by the second sensor at the device 100.

[0142] The second sensor can be used to acquire frame data. As an example, the second sensor could be a visual sensor for acquiring visual information about the environment. Alternatively, the second sensor could be a lidar sensor for acquiring point cloud data about the environment. Or, the second sensor could be a millimeter-wave radar sensor for acquiring distance information about the environment.

[0143] The second sensor can be the same type as or different from the first sensor. For example, both the first and second sensors can be vision sensors. Alternatively, the first sensor can be a vision sensor, and the second sensor can be a LiDAR sensor.

[0144] The data transmission frame rates of the second sensor and the first sensor can be the same or different.

[0145] The third frame of data can be any frame of data transmitted from the second sensor to the processor. For example, if the second sensor is a vision sensor, the third frame of data could be an image frame. If the second sensor is a LiDAR sensor, the third frame of data could be a point cloud frame. If the second sensor is a millimeter-wave radar sensor, the third frame of data could be a frame of distance information.

[0146] The second timestamp can represent the time when the third frame of data arrives at device 100. For example, if the second frame of data is a frame of image data, the second timestamp can be the time when the first pixel sub-data in the second frame of data arrives at device 100. If the second frame of data is a frame of point cloud data, the second timestamp can be the time when the first point cloud sub-data in the second frame of data arrives at device 100. If the second frame of data is a frame of distance information, the second timestamp can be the time when the first distance sub-data in the second frame of data arrives at device 100. Furthermore, the second timestamp can also be the time when all the second frame of data arrives at device 100.

[0147] In some alternative implementations, all frame data acquired by the second sensor can be transmitted to the processor. After the second sensor transmits any frame data to the processor, the frame data will arrive at device 100, and the processor can record a timestamp of the arrival of the frame data at device 100, such as a second timestamp. However, not all frame data arriving at device 100 will be received by the processor. As an example, if the processor determines to receive frame data (e.g., the fourth frame data), the processor can further perform the operation of receiving the frame data (e.g., opening a receiving channel); if the processor determines not to receive the frame data, the processor can perform frame dropping processing on the frame data.

[0148] S207, based on the second timestamp, determine the second predicted timestamp corresponding to the fourth frame data, the fourth frame data being the adjacent frame data transmitted by the second sensor after the third frame data.

[0149] The processor can determine the second predicted timestamp of the arrival of the fourth frame of data in the device 100 based on the second timestamp. The fourth frame of data is the adjacent frame of data transmitted by the second sensor after the third frame of data.

[0150] The fourth frame of data can be the next frame of data transmitted by the second sensor after the third frame of data has been transmitted, adjacent to the third frame. The type of the fourth frame of data is the same as that of the third frame of data. For example, if the third frame of data is image data, the fourth frame of data can be image data; if the third frame of data is point cloud data, the fourth frame of data can be point cloud data; if the third frame of data is distance information, the fourth frame of data can be distance information.

[0151] The second predicted timestamp can be the estimated time when the fourth frame data arrives at the device 100, which is predicted based on the second timestamp and combined with the attributes of the adjacent frame data transmitted by the second sensor (such as the adjacent frame interval, frame rate, etc.).

[0152] In some alternative implementations, the processor may pre-store the second adjacent frame interval of the second sensor, and add the second timestamp to the second adjacent frame interval to calculate the second predicted timestamp. Alternatively, the processor may analyze the timestamps of historically received multi-frame data (such as the first 10 frames) to calculate the average value of the adjacent frame intervals transmitted by the second sensor, and then add the second timestamp to the average value to obtain the second predicted timestamp.

[0153] S208, based on a preset frame selection period and a second predicted timestamp, determines whether to receive the fourth frame data. The preset frame selection period is a common multiple of the first adjacent frame interval and the second adjacent frame interval. The preset frame selection period is used to synchronously receive the second frame data and the fourth frame data. The first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor, and the second adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the second sensor.

[0154] The processor can determine whether to receive the fourth frame of data based on a preset frame selection period and a second predicted timestamp.

[0155] The first adjacent frame interval can be used to describe the time interval between two adjacent frames of data (such as the first frame and the second frame) during the transmission of frame data by the first sensor. For example, the first adjacent frame interval can be the time difference from the start of transmission of the first frame to the start of transmission of the second frame. As another example, the first adjacent frame interval can also be the average of the time differences between the arrival of two adjacent frames of data transmitted by the first sensor at the device 100.

[0156] The second adjacent frame interval can be used to describe the time interval between two adjacent frames of data (such as the third and fourth frames) during the transmission of frame data by the second sensor. For example, the second adjacent frame interval can be the time difference from the start of transmission of the third frame to the start of transmission of the fourth frame. Alternatively, the second adjacent frame interval can also be the average of the time differences between the arrival times of two adjacent frames of data transmitted by the second sensor at the device 100.

[0157] In some optional implementations, the second predicted timestamp can be compared with a preset frame selection period to determine whether the second predicted timestamp is within the valid reception time window of the preset frame selection period. If it is within the valid reception time window, the fourth frame data is determined to be received; otherwise, the fourth frame data is not received. Alternatively, the start and end reception times of each preset frame selection period can be calculated based on the preset frame selection period, and the second predicted timestamp can be checked to see if it falls within the range of the start and end reception times of a certain preset frame selection period. If it falls within this range, the fourth frame data is determined to be received; otherwise, the fourth frame data is not received.

[0158] Here, by combining the preset frame selection period and the second prediction timestamp, it is determined whether to receive the fourth frame data. The preset frame selection period can be set according to the frame rate requirements for preset data processing of frame data, and frame data can be filtered to avoid receiving unnecessary frame data, reduce unnecessary bandwidth and CPU consumption, and alleviate the problem of resource waste.

[0159] S209, in response to determining that the fourth frame of data has been received, performs preset data processing on the fourth frame of data.

[0160] The processor can perform preset data processing on the fourth frame of data if it determines that the fourth frame of data has been received.

[0161] In some alternative implementations, noise reduction algorithms can be used to remove noise from the fourth frame data, improving data quality for more accurate subsequent data analysis. Alternatively, feature extraction algorithms can be used to extract key feature information (such as edge features, texture features, etc.) from the fourth frame data, providing foundational data for subsequent data recognition, classification, and other operations.

[0162] It is understandable that in the above optional implementation methods, the processor's processing of the third and fourth frame data from the second sensor (determining the second timestamp, the second predicted timestamp, and determining whether to receive and transmit) is consistent with the processing method for the first sensor, ensuring the consistency and standardization of multi-sensor frame data processing and reducing the complexity of system design. The preset frame selection period is set to the common multiple of the first adjacent frame interval and the second adjacent frame interval, ensuring that the preset frame selection period is compatible with the frame transmission patterns of the two sensors. This ensures that both sensors can receive frame data that meets the phase requirements within the same preset frame selection period, providing a time basis for the synchronous reception of the second and fourth frame data. After achieving synchronous reception, preset data processing is performed on the two valid frame data streams, ensuring that time-synchronized multi-frame data can be obtained. This provides a guarantee for subsequent multi-frame data fusion, multi-view analysis, and time alignment decisions (such as panoramic image fusion and multi-sensor data fusion decisions in assisted driving), solving the problem that existing single-sensor processing schemes cannot meet multi-channel synchronization requirements and improving the processor's applicability and processing performance in multi-sensor scenarios.

[0163] Exemplary methods

[0164] This disclosure also provides a method for supporting data transmission. The method for supporting data transmission in this disclosure can be executed by any of the data transmission supporting apparatuses in this disclosure. In an optional embodiment of this disclosure, the method for supporting data transmission includes:

[0165] Determine the first timestamp corresponding to the first frame of data transmitted by the first sensor;

[0166] Based on the first timestamp, the first predicted timestamp corresponding to the second frame data is determined. The second frame data is the adjacent frame data transmitted by the first sensor after the first frame data.

[0167] Based on the preset frame selection period and the first prediction timestamp, determine whether to receive the second frame of data;

[0168] In response to the confirmation that the second frame of data has been received, preset data processing is performed on the second frame of data.

[0169] In one optional implementation, determining the first predicted timestamp corresponding to the acquisition of the second frame data, based on the first timestamp, includes:

[0170] Based on the first timestamp and the first adjacent frame interval, the first predicted timestamp corresponding to the acquisition of the second frame data is determined;

[0171] The first adjacent frame interval represents the time interval between two adjacent frames of data transmitted by the first sensor.

[0172] In one optional implementation, in response to determining that a second frame of data has been received, preset data processing is performed on the second frame of data, including:

[0173] In response to determining that the second frame of data has been received, the first receiving channel is turned on, and the second frame of data is received through the first receiving channel to perform preset data processing on the second frame of data.

[0174] In response to the determination that the second frame of data will not be received, the first receiving channel is shut down.

[0175] In one optional implementation, determining whether to receive a second frame of data based on a preset frame selection period and a first prediction timestamp includes:

[0176] Based on the preset frame selection period and the first predicted timestamp, the first timestamp phase corresponding to the second frame data is determined. The preset frame selection period is an integer multiple of the first adjacent frame interval, and the first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor.

[0177] Based on the first timestamp phase, determine whether to receive the second frame of data.

[0178] In one optional implementation, determining whether to receive a second frame of data based on a first timestamp phase includes:

[0179] Based on the first adjacent frame interval and the preset frame selection period, the target frame timestamp phase corresponding to the first sensor is determined. The target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions.

[0180] Based on the first adjacent frame interval, the phase window corresponding to the first sensor is determined, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions;

[0181] Based on the first timestamp phase, the target frame timestamp phase, and the phase window, determine whether to receive the second frame of data.

[0182] In one optional implementation, the second frame data undergoes preset data processing, including:

[0183] Determine the actual timestamp corresponding to the obtained second frame of data;

[0184] Based on the actual timestamp and the preset frame selection period, determine whether to perform preset data processing on the second frame data;

[0185] In response to determining that preset data processing will be performed on the second frame data, a frame sequence number of the second frame data is generated, and in response to the completion of receiving the second frame data, preset data processing is performed on the second frame data based on the frame sequence number.

[0186] In response to the determination that the second frame data will not be processed according to the preset data processing, the second frame data is dropped.

[0187] In one optional implementation, based on the actual timestamp and a preset frame selection period, it is determined whether to perform preset data processing on the second frame data, including:

[0188] Based on the actual timestamp and the preset frame selection period, the phase of the second timestamp corresponding to the second frame data is determined. The preset frame selection period is an integer multiple of the first adjacent frame interval. The first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor.

[0189] Based on the second timestamp phase, determine whether to perform preset data processing on the second frame data.

[0190] In one optional implementation, determining whether to perform preset data processing on the second frame data based on the second timestamp phase includes:

[0191] Based on the first adjacent frame interval and the preset frame selection period, the target frame timestamp phase corresponding to the first sensor is determined, wherein the target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions.

[0192] Based on the first adjacent frame interval, the phase window corresponding to the first sensor is determined, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions;

[0193] Based on the second timestamp phase, the target frame timestamp phase, and the phase window, determine whether to perform preset data processing on the second frame data.

[0194] In an optional implementation, the method further includes:

[0195] Determine the second timestamp corresponding to the third frame of data transmitted by the second sensor;

[0196] Based on the second timestamp, the second predicted timestamp corresponding to the fourth frame of data is determined. The fourth frame of data is the adjacent frame of data transmitted by the second sensor after the third frame of data.

[0197] Based on the preset frame selection period and the second predicted timestamp, it is determined whether to receive the fourth frame data. The preset frame selection period is the common multiple of the first adjacent frame interval and the second adjacent frame interval. The preset frame selection period is used to synchronously receive the second frame data and the fourth frame data. The first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor, and the second adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the second sensor.

[0198] In response to the determination that the fourth frame of data has been received, the fourth frame of data is subjected to preset data processing.

[0199] Any of the data transmission methods provided in this disclosure can be executed by any suitable device capable of supporting data transmission, including but not limited to: devices supporting data transmission, terminal devices, and servers. Alternatively, any of the data transmission methods provided in this disclosure can be executed by a processor, such as by a processor executing any of the data transmission methods mentioned in this disclosure by calling corresponding instructions stored in memory. Further details will not be elaborated below.

[0200] The beneficial technical effects corresponding to the exemplary embodiments of this method can be found in the corresponding beneficial technical effects of the exemplary device section above, and will not be repeated here.

[0201] Exemplary electronic devices

[0202] Figure 12 A structural diagram of an electronic device provided in an embodiment of this disclosure includes at least one processor 111 and a memory 112.

[0203] The processor 111 may be a SOC chip, a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 11 to perform desired functions.

[0204] The memory 112 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 111 may execute one or more computer program instructions to implement the methods for supporting data transmission and / or other desired functions of the various embodiments of this disclosure described above.

[0205] In one example, the electronic device 11 may also include an input device 113 and an output device 114, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0206] The input device 113 may also include, for example, a keyboard, a mouse, etc.

[0207] The output device 114 can output various information to the outside, including, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0208] Of course, for the sake of simplicity, Figure 12 Only some of the components of the electronic device 11 relevant to this disclosure are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 11 may include any other suitable components depending on the specific application.

[0209] Exemplary computer program products and computer-readable storage media

[0210] In addition to the methods and apparatus described above, embodiments of this disclosure may also provide a computer program product, including computer program instructions that, when executed by a processor, cause the processor to perform steps in the methods supporting data transmission described in the various embodiments of this disclosure in the "Exemplary Methods" section above.

[0211] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of embodiments of this disclosure. These programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0212] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform steps in the methods supporting data transmission described in the various embodiments of this disclosure in the "Exemplary Methods" section above.

[0213] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, but is not limited to, systems, apparatuses, or devices that are electrical, magnetic, optical, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0214] The basic principles of this disclosure have been described above with reference to specific embodiments. However, the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0215] Various modifications and variations can be made to this disclosure without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. An apparatus for supporting data transmission, comprising a processor configured to: Determine the first timestamp corresponding to the first frame of data transmitted by the first sensor; Based on the first timestamp, the first predicted timestamp corresponding to the second frame data is determined, and the second frame data is the adjacent frame data transmitted by the first sensor after the first frame data; Based on the preset frame selection period and the first predicted timestamp, determine whether to receive the second frame data; In response to determining that the second frame of data has been received, preset data processing is performed on the second frame of data.

2. The apparatus according to claim 1, wherein, The step of determining the first predicted timestamp corresponding to the obtained second frame data based on the first timestamp includes: Based on the first timestamp and the first adjacent frame interval, the first predicted timestamp corresponding to the obtained second frame data is determined; Wherein, the first adjacent frame interval represents the time interval between two adjacent frames of data transmitted by the first sensor.

3. The apparatus according to claim 1, wherein, The response to determining that the second frame of data has been received, performing preset data processing on the second frame of data, includes: In response to determining that the second frame data has been received, the system controls the first receiving channel to be turned on and receives the second frame data through the first receiving channel to perform preset data processing on the second frame data. In response to determining that the second frame of data will not be received, the first receiving channel is shut down.

4. The apparatus according to claim 1, wherein, The step of determining whether to receive the second frame data based on a preset frame selection period and the first predicted timestamp includes: Based on the preset frame selection period and the first predicted timestamp, the first timestamp phase corresponding to the second frame data is determined. The preset frame selection period is an integer multiple of the first adjacent frame interval, and the first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor. Based on the first timestamp phase, determine whether to receive the second frame of data.

5. The apparatus according to claim 4, wherein, The step of determining whether to receive the second frame of data based on the first timestamp phase includes: Based on the first adjacent frame interval and the preset frame selection period, the target frame timestamp phase corresponding to the first sensor is determined, and the target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions. Based on the first adjacent frame interval, a phase window corresponding to the first sensor is determined, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions; Based on the first timestamp phase, the target frame timestamp phase, and the phase window, it is determined whether to receive the second frame data.

6. The apparatus according to claim 1, wherein, The preset data processing of the second frame data includes: Determine the actual timestamp corresponding to the obtained second frame data; Based on the actual timestamp and the preset frame selection period, determine whether to perform preset data processing on the second frame data; In response to determining that the second frame data will be subjected to preset data processing, a frame sequence number of the second frame data is generated, and in response to the completion of receiving the second frame data, the preset data processing is performed on the second frame data based on the frame sequence number; In response to determining that the second frame data will not be subject to preset data processing, the second frame data is subjected to frame dropping processing.

7. The apparatus according to claim 6, wherein, The step of determining whether to perform preset data processing on the second frame data based on the actual timestamp and the preset frame selection period includes: Based on the actual timestamp and the preset frame selection period, the second timestamp phase corresponding to the second frame data is determined. The preset frame selection period is an integer multiple of the first adjacent frame interval, and the first adjacent frame interval represents the time interval between two adjacent frames of data transmitted by the first sensor. Based on the second timestamp phase, determine whether to perform preset data processing on the second frame data.

8. The apparatus according to claim 7, wherein, The step of determining whether to perform preset data processing on the second frame data based on the second timestamp phase includes: Based on the first adjacent frame interval and the preset frame selection period, the target frame timestamp phase corresponding to the first sensor is determined, wherein the target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions; Based on the first adjacent frame interval, a phase window corresponding to the first sensor is determined, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions; Based on the second timestamp phase, the target frame timestamp phase, and the phase window, it is determined whether to perform preset data processing on the second frame data.

9. The apparatus according to any one of claims 1-8, wherein, The processor is also configured to: Determine the second timestamp corresponding to the third frame of data transmitted by the second sensor; Based on the second timestamp, the second predicted timestamp corresponding to the fourth frame of data is determined, wherein the fourth frame of data is the adjacent frame of data transmitted by the second sensor after the third frame of data; Based on the preset frame selection period and the second predicted timestamp, it is determined whether to receive the fourth frame data. The preset frame selection period is a common multiple of the first adjacent frame interval and the second adjacent frame interval. The preset frame selection period is used to synchronously receive the second frame data and the fourth frame data. The first adjacent frame interval represents the time interval between the first sensor transmitting two adjacent frames of data, and the second adjacent frame interval represents the time interval between the second sensor transmitting two adjacent frames of data. In response to determining that the fourth frame of data has been received, the fourth frame of data is subjected to the preset data processing.

10. A method for supporting data transmission, comprising: Determine the first timestamp corresponding to the first frame of data transmitted by the first sensor; Based on the first timestamp, the first predicted timestamp corresponding to the second frame data is determined, and the second frame data is the adjacent frame data transmitted by the first sensor after the first frame data; Based on the preset frame selection period and the first predicted timestamp, determine whether to receive the second frame data; In response to determining that the second frame of data has been received, preset data processing is performed on the second frame of data.

11. The method according to claim 10, wherein, The step of determining whether to receive the second frame data based on a preset frame selection period and the first predicted timestamp includes: Based on the preset frame selection period and the first predicted timestamp, the first timestamp phase corresponding to the second frame data is determined. The preset frame selection period is an integer multiple of the first adjacent frame interval, and the first adjacent frame interval represents the time interval between the transmission of two adjacent frames of data by the first sensor. Based on the first timestamp phase, determine whether to receive the second frame of data.

12. The method according to claim 11, wherein, The step of determining whether to receive the second frame of data based on the first timestamp phase includes: Based on the first adjacent frame interval and the preset frame selection period, the target frame timestamp phase corresponding to the first sensor is determined, and the target frame timestamp phase is used to represent the time deviation reference limited by the transmission and reception conditions. Based on the first adjacent frame interval, a phase window corresponding to the first sensor is determined, wherein the phase window represents the upper limit of the deviation of the timestamp phase limited by the transmission and reception conditions; Based on the first timestamp phase, the target frame timestamp phase, and the phase window, it is determined whether to receive the second frame data.

13. A computer-readable storage medium storing a computer program that, when executed by a processor, is used to perform the method for supporting data transmission as described in any one of claims 10-12.

14. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the data transmission support method according to any one of claims 10-12.

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