CN118400486A - Vehicle-mounted video data transmission method and device, electronic equipment and storage medium - Google Patents
Vehicle-mounted video data transmission method and device, electronic equipment and storage medium Download PDFInfo
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- CN118400486A CN118400486A CN202410518806.3A CN202410518806A CN118400486A CN 118400486 A CN118400486 A CN 118400486A CN 202410518806 A CN202410518806 A CN 202410518806A CN 118400486 A CN118400486 A CN 118400486A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 182
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 119
- 125000004122 cyclic group Chemical group 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/06—Systems for the simultaneous transmission of one television signal, i.e. both picture and sound, by more than one carrier
- H04N7/063—Simultaneous transmission of separate parts of one picture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/65—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using error resilience
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
- H04N19/89—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression involving methods or arrangements for detection of transmission errors at the decoder
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/025—Systems for the transmission of digital non-picture data, e.g. of text during the active part of a television frame
- H04N7/035—Circuits for the digital non-picture data signal, e.g. for slicing of the data signal, for regeneration of the data-clock signal, for error detection or correction of the data signal
- H04N7/0357—Circuits for the digital non-picture data signal, e.g. for slicing of the data signal, for regeneration of the data-clock signal, for error detection or correction of the data signal for error detection or correction
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
Abstract
The disclosure provides a vehicle-mounted video data transmission method, a device, electronic equipment and a storage medium, and relates to the technical field of vehicles. The vehicle-mounted video data transmission method comprises the steps of receiving complete line effective data transmitted through oLDI interfaces, wherein a first transmission detection code is inserted into the tail end of the complete line effective data; calculating a second transmission detection code corresponding to the complete line effective data; comparing the second transmission detection code with the first transmission detection code, determining that the current line data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determining that the current line data transmission is wrong when the second transmission detection code is different from the first transmission detection code. By adopting the vehicle-mounted video data transmission method disclosed by the invention, the detection efficiency and accuracy can be greatly improved without additionally adding interface signals or changing the data structure of the existing code stream, and the vehicle-mounted video data transmission method is strong in compatibility and can be widely applied to various scenes.
Description
Technical Field
The present disclosure relates generally to the field of vehicle technologies, and in particular, to a vehicle-mounted video data transmission method, a device, an electronic apparatus, and a storage medium.
Background
In the application of high-speed transmission of vehicle-mounted video data, the accuracy of the data is the fundamental basis for ensuring safe and reliable driving, so that it is very important to judge whether errors occur during data transmission. Currently, the related art needs to additionally add interface signals or change the data structure of the existing code stream, but these modes have complex operation and limitations.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings in the related art, it is desirable to provide a vehicle-mounted video data transmission method, apparatus, electronic device, and storage medium, which can efficiently detect whether data transmission is erroneous, and which has a wide range of applications.
In a first aspect, the present disclosure provides a vehicle-mounted video data transmission method, including:
Receiving complete line effective data transmitted through oLDI interfaces, wherein a first transmission detection code is inserted into the tail end of the complete line effective data;
Calculating a second transmission detection code corresponding to the complete line effective data;
Comparing the second transmission detection code with the first transmission detection code, determining that the current line data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determining that the current line data transmission is wrong when the second transmission detection code is different from the first transmission detection code.
Optionally, in some embodiments of the present disclosure, the first transmission detection code and the second transmission detection code comprise cyclic redundancy check codes or error checking error correction codes.
Optionally, in some embodiments of the present disclosure, when the second transmission detection code and the first transmission detection code are different, determining that the current line of data transmission is wrong further includes:
discarding the current line data, and reporting an error interrupt to a main control.
Optionally, in some embodiments of the present disclosure, the first transmission detection code and the second transmission detection code are error checking error correcting codes, the method further comprising:
And correcting the 1-bit error detected by the current data.
In a second aspect, the present disclosure provides an in-vehicle video data transmission apparatus including:
the receiving module is configured to receive the complete line effective data transmitted through the oLDI interface, and a first transmission detection code is inserted into the tail end of the complete line effective data;
The calculating module is configured to calculate a second transmission detection code corresponding to the complete line effective data;
And the determining module is configured to compare the second transmission detection code with the first transmission detection code, determine that the current line data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determine that the current line data transmission is wrong when the second transmission detection code is different from the first transmission detection code.
Optionally, in some embodiments of the present disclosure, the first transmission detection code and the second transmission detection code comprise cyclic redundancy check codes or error checking error correction codes.
Optionally, in some embodiments of the present disclosure, the determining module further includes a reporting unit configured to discard the current line data and report an error interrupt to a master.
Optionally, in some embodiments of the present disclosure, the first transmission detection code and the second transmission detection code are error checking error correcting codes, and the determining module further includes a correcting unit configured to correct the 1-bit error detected by the current data.
In a third aspect, the present disclosure provides an electronic device comprising a processor and a memory, the memory storing at least one instruction, at least one program, a set of codes, or a set of instructions, the program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the steps of the in-vehicle video data transmission method of any one of the first aspects.
In a fourth aspect, the present disclosure provides a computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps of the in-vehicle video data transmission method of any one of the first aspects.
From the above technical solutions, the embodiments of the present disclosure have the following advantages:
The embodiment of the disclosure provides a vehicle-mounted video data transmission method, a device, an electronic device and a storage medium, wherein a first transmission detection code is inserted at the tail end of a complete line of effective data transmitted by a oLDI interface, namely in a horizontal front tip area in oLDI standard, an interface signal is not required to be additionally added or the data structure of an existing code stream is not required to be changed, a second transmission detection code corresponding to the complete line of effective data is calculated, the second transmission detection code is compared with the first transmission detection code, when the second transmission detection code is identical with the first transmission detection code, the correct transmission of the current line of data is determined, and when the second transmission detection code is different from the first transmission detection code, the error of the transmission of the current line of data is determined, so that the detection efficiency and the accuracy are greatly improved, the compatibility is strong, and the vehicle-mounted video data transmission method is widely applicable to various scenes.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings:
Fig. 1 is a flow chart of a vehicle-mounted video data transmission method according to an embodiment of the disclosure;
Fig. 2 is a schematic diagram of a data format of a vehicle-mounted video signal according to an embodiment of the disclosure;
Fig. 3 is a schematic diagram of a transmission mapping format of a vehicle-mounted video signal according to an embodiment of the disclosure;
fig. 4 is a schematic structural diagram of a vehicle-mounted video data transmission device according to an embodiment of the disclosure;
Fig. 5 is a schematic structural diagram of another vehicle-mounted video data transmission device according to an embodiment of the disclosure;
Fig. 6 is a schematic structural diagram of still another vehicle-mounted video data transmission device according to an embodiment of the disclosure.
Detailed Description
In order that those skilled in the art will better understand the present disclosure, a technical solution in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the described embodiments of the disclosure may be capable of operation in sequences other than those illustrated or described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. In order to better understand the present disclosure, a method, an apparatus, an electronic device, and a storage medium for transmitting vehicle-mounted video data provided by embodiments of the present disclosure are described in detail below with reference to fig. 1 to 6.
Please refer to fig. 1, which is a flowchart of a vehicle-mounted video data transmission method according to an embodiment of the present disclosure, the method specifically includes the following steps:
s101, receiving the complete line effective data transmitted through oLDI interfaces, wherein the end of the complete line effective data is inserted with a first transmission detection code.
Exemplary, as shown in fig. 2, a schematic diagram of a data format of an in-vehicle video signal according to an embodiment of the disclosure is provided. As can be seen from the figure, the signals to be transmitted include timing control signal video clock (DCK), vertical Sync (VSYNC), horizontal Sync (HSYNC), data ENABLE (ENABLE), and 24-bit video data signal DB [23:0], in which three components of RGB, red, green and blue each occupy 8 bits. Where VLW (Vertical low width, also referred to as VERTICAL SYNC WIDTH) represents the vertical sync signal width, VBP (video back porch) represents the vertical trailing edge, VACT (video active) represents video activation, HLW (horizontal low width, also referred to as horizontal SYNC WIDTH) represents the horizontal sync signal width, HBP (horizontal back porch) represents the horizontal trailing edge, HACT (horizontal video active) represents horizontal video activation, VSYNC represents the start of a frame, HSYNC represents the start of a row, and ENABLE represents valid data in a row.
Further, in addition to the video clock signal, a total of 27 bit signals are required to transmit video, i.e., RGB data occupies 24 bits, vsync, HSYNC, and ENABLE each occupies 1bit, and valid data only appears in a valid data area, i.e., HACT area in the figure. As shown in fig. 3, which is a schematic diagram of a transmission mapping format of a vehicle-mounted video signal provided by an embodiment of the present disclosure, the oLDI interface (i.e., open LVDSDISPLAY INTERFACE, also translated into OpenLDI) is mapped onto 5-path LVDS (Low Voltage DIFFERENTIAL SIGNALING, low Voltage differential signal) according to the format of the diagram when the video signal is transmitted, wherein 27-bit video signals except for the video clock signal are mapped onto 4-path LVDS such as d0+/-, d1+/-, D2+/-, D3+/-, RO0 represents bit0 of the Red component, RO1 represents bit1 of the Red component, GO0 represents bit0 of the Green component, BO0 represents bit0 of the Blue component, and so on.
Further, since the use of data in the horizontal front tip region (horizontal front porch) is not described in the oLDI standard, the embodiments of the present disclosure insert the 16-bit first transmission detection code after the end of the valid data in the horizontal direction, i.e., in the first clock cycle of the horizontal front tip region, without adding an additional interface signal or changing the data structure of the existing code stream.
S102, calculating a second transmission detection code corresponding to the effective data of the complete line.
Illustratively, the first transmission detection code and the second transmission detection code in the embodiments of the present disclosure may include a cyclic redundancy check code (Cyclic Redundancy Check, CRC) or an Error CHECKING AND Correcting Error Correction Code (ECC), that is, the first transmission detection code and the second transmission detection code are both cyclic redundancy check codes, or the first transmission detection code and the second transmission detection code are both Error correction codes.
Further, the principle of cyclic redundancy check codes agrees with a generator polynomial for the receiver and the sender, which generator polynomial is usually a binary number and remains unchanged throughout the transmission. The generator polynomial is used at the sender (e.g., serializer) to modulo 2 the information polynomial to generate a check code, and the received code polynomial is used at the receiver (e.g., deserializer) to modulo 2 the generator polynomial to detect and determine the error location. And the error checking error correcting code is based on the principle that an extra bit of data stores a code encrypted by data, when the data is written into the memory, the corresponding ECC code is also saved, when the data stored just is read back again, the saved ECC code is compared with the ECC code generated when the data is read, and if the two codes are different, the two codes are decoded to determine which bit of the data is wrong.
S103, comparing the second transmission detection code with the first transmission detection code, determining that the current data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determining that the current data transmission is wrong when the second transmission detection code is different from the first transmission detection code.
For example, when the second transmission detection code is different from the first transmission detection code, after determining that the current line data is transmitted with errors, the embodiment of the disclosure may discard the current line data and timely report an error interrupt to the master. Further, in the case that both the first transmission detection code and the second transmission detection code are error checking error correcting codes, the embodiment of the disclosure can also correct the 1-bit error detected by the current data, and the set advantage is that diversified use requirements can be met, and the application scene is wide.
According to the vehicle-mounted video data transmission method provided by the embodiment of the disclosure, the first transmission detection code is inserted into the tail end of the effective data of the complete line transmitted by the oLDI interface, namely, the tail end is located in the horizontal front tip area in the oLDI standard, no additional interface signal is needed or the data structure of the existing code stream is changed, further, the second transmission detection code corresponding to the effective data of the complete line is calculated, the second transmission detection code is compared with the first transmission detection code, when the second transmission detection code is identical with the first transmission detection code, the correct transmission of the current line is determined, and when the second transmission detection code is different from the first transmission detection code, the error of the transmission of the current line is determined, so that the detection efficiency and the accuracy are greatly improved, the compatibility is strong, and the vehicle-mounted video data transmission method can be widely applied to various scenes.
Based on the foregoing embodiments, the present disclosure provides an in-vehicle video data transmission apparatus. The in-vehicle video data transmission device 100 can be applied to the in-vehicle video data transmission method according to the corresponding embodiment of fig. 1 to 3. Referring to fig. 4, the vehicle-mounted video data transmission apparatus 100 includes:
a receiving module 101, configured to receive the complete line valid data transmitted through the oLDI interface, where a first transmission detection code is inserted into the end of the complete line valid data;
a calculating module 102, configured to calculate a second transmission detection code corresponding to the full line valid data;
A determining module 103, configured to compare the second transmission detection code with the first transmission detection code, and determine that the current line data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determine that the current line data transmission is incorrect when the second transmission detection code is different from the first transmission detection code.
Optionally, in some embodiments of the present disclosure the first transmission detection code and the second transmission detection code comprise cyclic redundancy check codes or error checking error correction codes.
Optionally, as shown in fig. 5, the determining module 103 in some embodiments of the present disclosure further includes a reporting unit 1031, where the reporting unit 1031 is configured to discard the current line data and report an error interrupt to the master.
Optionally, in some embodiments of the present disclosure, the first transmission detection code and the second transmission detection code are error checking error correcting codes, and as shown in fig. 6, the determining module 103 further includes a correcting unit 1032, where the correcting unit 1032 is configured to correct the 1-bit error detected on the current data.
It should be noted that, in this embodiment, the descriptions of the same steps and the same content as those in other embodiments may refer to the descriptions in other embodiments, and are not repeated here.
According to the vehicle-mounted video data transmission device provided by the embodiment of the disclosure, the first transmission detection code is inserted into the tail end of the effective data of the complete line transmitted by the oLDI interface, namely, the tail end of the effective data is located in the horizontal front tip area in the oLDI standard, so that the second transmission detection code corresponding to the effective data of the complete line is calculated without additionally adding interface signals or changing the data structure of the existing code stream, the second transmission detection code is compared with the first transmission detection code, when the second transmission detection code is identical with the first transmission detection code, the current data transmission is determined to be correct, and when the second transmission detection code is different from the first transmission detection code, the current data transmission is determined to be wrong, thereby greatly improving the detection efficiency and accuracy, and the vehicle-mounted video data transmission device is high in compatibility and can be widely applied to various scenes.
Based on the foregoing embodiments, the disclosed embodiments provide an electronic device including a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set that is loaded and executed by the processor to implement the steps of the vehicle-mounted video data transmission method of the corresponding embodiment of fig. 1 to 3.
As another aspect, the disclosed embodiments provide a computer-readable storage medium storing program code for executing any one of the foregoing vehicle-mounted video data transmission methods of the corresponding embodiments of fig. 1 to 3.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, apparatuses and modules described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms. The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present disclosure may be integrated in one processing unit, or each module may exist alone physically, or two or more units may be integrated in one module. The integrated units may be implemented in hardware or in software functional units. And the integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium.
Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method for transmitting vehicle-mounted video data of the various embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RandomAccess Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that the above embodiments are merely for illustrating the technical solution of the disclosure, and are not limiting; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (10)
1. A vehicle-mounted video data transmission method, characterized in that the vehicle-mounted video data transmission method comprises:
Receiving complete line effective data transmitted through oLDI interfaces, wherein a first transmission detection code is inserted into the tail end of the complete line effective data;
Calculating a second transmission detection code corresponding to the complete line effective data;
Comparing the second transmission detection code with the first transmission detection code, determining that the current line data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determining that the current line data transmission is wrong when the second transmission detection code is different from the first transmission detection code.
2. The in-vehicle video data transmission method according to claim 1, wherein the first transmission detection code and the second transmission detection code include a cyclic redundancy check code or an error checking error correction code.
3. The in-vehicle video data transmission method according to claim 1 or 2, wherein the determining that the current line data transmission is wrong when the second transmission detection code and the first transmission detection code are different, further comprises:
discarding the current line data, and reporting an error interrupt to a main control.
4. The in-vehicle video data transmission method according to claim 3, wherein the first transmission detection code and the second transmission detection code are error-checking error-correcting codes, the method further comprising:
And correcting the 1-bit error detected by the current data.
5. An in-vehicle video data transmission apparatus, characterized by comprising:
the receiving module is configured to receive the complete line effective data transmitted through the oLDI interface, and a first transmission detection code is inserted into the tail end of the complete line effective data;
The calculating module is configured to calculate a second transmission detection code corresponding to the complete line effective data;
And the determining module is configured to compare the second transmission detection code with the first transmission detection code, determine that the current line data transmission is correct when the second transmission detection code is the same as the first transmission detection code, and determine that the current line data transmission is wrong when the second transmission detection code is different from the first transmission detection code.
6. The in-vehicle video data transmission apparatus according to claim 5, wherein the first transmission detection code and the second transmission detection code include a cyclic redundancy check code or an error checking error correction code.
7. The vehicle-mounted video data transmission device according to claim 5 or 6, wherein the determination module further comprises a reporting unit configured to discard the current line data and report an error interrupt to a master control.
8. The apparatus according to claim 7, wherein the first transmission detection code and the second transmission detection code are error-checking error-correcting codes, and the determination module further includes a correction unit configured to correct a 1-bit error detected by the current data.
9. An electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the steps of the in-vehicle video data transmission method of any one of claims 1 to 4.
10. A computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps of the in-vehicle video data transmission method of any one of claims 1 to 4.
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CN1838102A (en) * | 2005-03-23 | 2006-09-27 | 精工爱普生株式会社 | Data transmission control device and electronic equipment |
JP2009065255A (en) * | 2007-09-04 | 2009-03-26 | Fuji Xerox Co Ltd | Data transmission apparatus, data transmission device, data reception device, and data transmission system |
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CN219372498U (en) * | 2022-12-14 | 2023-07-18 | 宁波舜宇车载光学技术有限公司 | Video transmission device, video projection system and vehicle |
CN116684543A (en) * | 2023-06-20 | 2023-09-01 | 北京集创北方科技股份有限公司 | Data transmission method and device, chip, electronic device and storage medium |
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CN1838102A (en) * | 2005-03-23 | 2006-09-27 | 精工爱普生株式会社 | Data transmission control device and electronic equipment |
JP2009065255A (en) * | 2007-09-04 | 2009-03-26 | Fuji Xerox Co Ltd | Data transmission apparatus, data transmission device, data reception device, and data transmission system |
CN115202991A (en) * | 2022-09-15 | 2022-10-18 | 南京芯驰半导体科技有限公司 | An OpenLDI interface real-time self-monitoring system and method |
CN219372498U (en) * | 2022-12-14 | 2023-07-18 | 宁波舜宇车载光学技术有限公司 | Video transmission device, video projection system and vehicle |
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