Light projection device, method and storage medium

Abstract

The present application relates to a light projection device, method, and storage medium, wherein the device includes an information acquisition module, a processing module, and a projection module, wherein the information acquisition module is used to acquire environmental information and status information of a first object; the processing module is used to determine, based on the status information, that the first object is a potentially dangerous object; determine the potentially dangerous area of ​​the first object; determine, based on the potentially dangerous area and the environmental information, an area to be projected, wherein the area to be projected is an area where light projection does not exist and light projection is allowed; determine whether the area to be projected is within the projection range of the projection module; and the projection module, in response to a first result determined by the processing module, projects light within the area to be projected to indicate the potential danger caused by the first object. The embodiments of the present application can project light on potential dangers caused by other traffic participants and avoid overlapping projections during projection to improve the projection effect, thereby improving traffic safety.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a light projection device, method, and storage medium. Background Art

[0002] While driving, vehicles may encounter dangerous situations such as pedestrians suddenly appearing in the lane (i.e., ghosting), or complex road conditions (such as snow-covered roads). If traffic participants fail to promptly detect potential dangers, traffic accidents may occur, affecting traffic safety. Summary of the Invention

[0003] In view of this, a light projection device, method and storage medium are proposed.

[0004] In a first aspect, an embodiment of the present application provides a light projection device, which includes an information acquisition module, a processing module and a projection module, wherein the processing module is connected to the information acquisition module and the projection module respectively, and the information acquisition module is used to: obtain environmental information and status information of a first object, the first object including at least one of a vehicle or a pedestrian, and the status information of the first object including at least one of position information or motion information of the first object; the processing module is used to: determine that the first object is a potentially dangerous object based on the status information; determine a potentially dangerous area of ​​the first object; determine an area to be projected based on the potentially dangerous area and the environmental information, the area to be projected being an area where no light projection exists and light projection is allowed; determine whether the area to be projected is within the projection range of the projection module; the projection module is used to: perform light projection in the area to be projected in response to a first result determined by the processing module to prompt the potential danger caused by the first object, wherein the first result is that the area to be projected is within the projection range of the projection module.

[0005] The information acquisition module is not limited to a sensor, but may also be a module with an information receiving function, such as at least one of a vehicle to everything (V2X) wireless communication module, a cellular communication module, a Bluetooth communication module, and the like.

[0006] According to an embodiment of the present application, a light projection device includes an information acquisition module, a processing module and a projection module. The information acquisition module acquires environmental information and status information of a first object. The processing module can determine that the first object is a potentially dangerous object based on the status information, and determine the potential dangerous area of ​​the first object. Then, based on the potential dangerous area and the environmental information, it determines the area to be projected. The area to be projected is an area where there is no light projection and light projection is allowed, and determines whether the area to be projected is within the projection range of the projection module. The projection module responds to the first result of the processing module (the area to be projected is within the projection range of the projection module) and performs light projection in the area to be projected to prompt the potential danger caused by the first object, so that the light projection device can use its own perception and projection functions to prompt or warn other traffic participants of the potential danger through light projection when it perceives that there is a potential danger. When projecting, the area where there is no light projection and light projection is allowed is determined as the area to be projected to avoid overlapping projection, improve the warning effect, and thus form a danger information sharing mechanism to effectively improve traffic safety.

[0007] According to the first aspect, in a first possible implementation of the light projection device, the device further includes a sending module for: in response to a second result determined by the processing module, sending information that the first object is a potentially dangerous object and the area to be projected to other devices, wherein the second result is that the area to be projected is not within the projection range of the projection module.

[0008] Among them, the other devices can be, for example, other light projection devices whose projection range can cover the area to be projected, or forwarding devices that do not have a projection function (such as RSU), or other light projection devices whose projection range cannot cover the area to be projected, so as to realize relay forwarding of projection information.

[0009] In this embodiment, when the area to be projected is not within the projection range of the projection module, the light projection device can send the information that the first object is a potential dangerous object and the area to be projected to other devices through the sending module, so that other devices with projection function can perform light projection on the potential danger caused by the first object, or other devices without projection function can relay the information that the first object is a potential dangerous object and the area to be projected. In this way, other devices can perform light projection or relay forwarding on the potential danger whose area to be projected is not within the projection range of the light projection device, which not only improves the projection efficiency, but also realizes the sharing of danger information and improves traffic safety.

[0010] According to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the light projection device, the first object is multiple objects; the processing module is further used to determine the projection order of the multiple objects according to the potential danger level of each object in the multiple objects; the projection module is used to perform light projection in the area to be projected, including: the projection module is used to perform multiple light projections corresponding to the multiple objects in sequence according to the projection order.

[0011] In this embodiment, by determining the projection order of multiple objects, objects with high potential danger levels can be projected first, thereby improving the warning effect, effectively reducing the occurrence rate of potential dangers, and improving traffic safety.

[0012] According to any one of the first aspect, the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, in a third possible implementation manner of the light projection device, the processing module is further used to generate a projection image and light control information; the projection module is used to perform light projection in the area to be projected, including: the projection module is used to perform light projection in the area to be projected according to the projection image and the light control information; wherein, the projection image is determined based on the environmental information and the potential danger caused by the first object, the light control information is determined based on the environmental information, the projection image and the area to be projected, and the light control information includes at least one of the angle, brightness or color of the light.

[0013] In this embodiment, the projection image is determined based on the environmental information and the potential danger caused by the first object, and the lighting control information is determined based on the environmental information, the projection image and the image area. Therefore, the projection image and the lighting control information can be combined with the potential danger caused by the first object and the external environmental information, which not only improves the readability of the danger warning, but also improves the projection effect.

[0014] According to the first aspect or any one of the first possible implementation manner of the first aspect to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the light projection device, the processing module is further used to determine a potential dangerous scene of the first object.

[0015] In this embodiment, the processing module can also determine the potential danger scene of the first object. By determining the potential danger scene of the first object, it is not only easy to identify the potential danger level of the first object, but also easy to determine the projection image, thereby improving the accuracy of light projection.

[0016] According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the light projection device, the processing module is further used to determine the potential danger level of the first object based on at least one of the potential danger area or the potential danger scene.

[0017] In this embodiment, the potential danger level of the first object is determined based on at least one of the potential danger area or the potential danger scene, so that the potential danger level can be associated with the potential danger area or the potential danger scene, thereby improving the accuracy of the potential danger level of the first object.

[0018] According to the first aspect, in a sixth possible implementation of the light projection device, the processing module is used to determine that the first object is a potentially dangerous object based on the status information, including: predicting a motion trajectory of the first object within a preset time period in the future based on the status information; and determining that the first object is a potentially dangerous object based on the motion trajectory.

[0019] In this embodiment, the motion trajectory of the first object within a preset time period in the future can be predicted based on the state information, and the first object can be determined as a potentially dangerous object based on the motion trajectory. Thus, the potentially dangerous object can be determined through the motion trajectory, which not only improves the processing efficiency of the processing module, but also improves the accuracy of the potentially dangerous object.

[0020] According to the sixth possible implementation manner of the first aspect, in the seventh possible implementation manner of the light projection device, the future preset time period includes multiple future moments, the motion trajectory of the first object within the future preset time period includes the position areas of the first object at the multiple future moments, and determining the first object as a potentially dangerous object based on the motion trajectory includes: for an object that is a vehicle among the first objects, at any future moment within the future preset time period, judging whether the position area of ​​the object at the future moment overlaps with the position areas of other objects among the first objects other than the object at the future moment; and in the case of overlap in the position areas, determining the object and other objects that overlap with the position area of ​​the object as potentially dangerous objects.

[0021] In this embodiment, the first object is determined to be a potentially dangerous object by overlapping the location areas at the same future time. This is simple, fast, and highly accurate, and can improve the processing efficiency of the processing module.

[0022] According to the first aspect or any one of the first possible implementation manner of the first aspect to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the light projection device, the light projection device is applied to a vehicle or roadside infrastructure.

[0023] In this embodiment, the light projection device can be applied to vehicles or roadside infrastructure. The vehicles or roadside infrastructure can use their own perception functions to promptly detect potential dangers caused by other traffic participants and provide reminders of the potential dangers through light projection, thereby improving traffic safety.

[0024] In a second aspect, an embodiment of the present application provides a light projection method, which is applied to a light projection device, and the method includes: obtaining environmental information and status information of a first object, the first object including at least one of a vehicle or a pedestrian, and the status information of the first object including at least one of position information or motion information of the first object; determining, based on the status information, the first object as a potentially dangerous object; determining a potential dangerous area of ​​the first object; determining, based on the potential dangerous area and the environmental information, an area to be projected, the area to be projected being an area where no light projection exists and light projection is allowed; determining whether the area to be projected is within the projection range of the light projection device; and, if the area to be projected is within the projection range of the light projection device, performing light projection in the area to be projected to prompt the potential danger caused by the first object.

[0025] According to an embodiment of the present application, a light projection method is applied to a light projection device, which can obtain environmental information and status information of a first object, and determine that the first object is a potentially dangerous object based on the status information, and then determine the potential danger area of ​​the first object; then, based on the potentially dangerous area and the environmental information, determine the area to be projected, which is an area where there is no light projection and light projection is allowed, and determine whether the area to be projected is within the projection range of the projection module; when the area to be projected is within the projection range of the light projection device, light projection is performed in the area to be projected to prompt the potential danger caused by the first object, so that when it is perceived that there is a potential danger to other traffic participants, the potential danger can be prompted or warned through light projection, and when projecting, the area where there is no light projection and light projection is allowed is determined as the area to be projected to avoid overlapping projections, improve the warning effect, and thus form a danger information sharing mechanism to effectively improve traffic safety.

[0026] According to the second aspect, in a first possible implementation of the light projection method, the method further includes: when the area to be projected is not within the projection range of the light projection device, sending information that the first object is a potentially dangerous object and the area to be projected to other devices.

[0027] In this embodiment, when the area to be projected is not within the projection range of the light projection device, the information that the first object is a potential dangerous object and the area to be projected can be sent to other devices, so that other devices with projection function can perform light projection on the potential danger caused by the first object, or other devices without projection function can relay the information that the first object is a potential dangerous object and the area to be projected. In this way, other devices can perform light projection or relay forwarding on the potential danger whose area to be projected is not within the projection range of the light projection device, which not only improves the projection efficiency, but also realizes the sharing of danger information and improves traffic safety.

[0028] According to the second aspect or the first possible implementation of the second aspect, in the second possible implementation of the light projection method, the first object is multiple objects, and the method further includes: determining the projection order of the multiple objects according to the potential danger level of each object in the multiple objects; and performing light projection in the area to be projected includes: performing multiple light projections corresponding to the multiple objects in sequence according to the projection order.

[0029] In this embodiment, by determining the projection order of multiple objects, objects with high potential danger levels can be projected first, thereby improving the warning effect, effectively reducing the occurrence rate of potential dangers, and improving traffic safety.

[0030] According to any one of the second aspect, the first possible implementation manner of the second aspect, or the second possible implementation manner of the second aspect, in a third possible implementation manner of the light projection method, the method further includes: generating a projection image and light control information; the performing light projection in the area to be projected includes: performing light projection in the area to be projected according to the projection image and the light control information; wherein the projection image is determined based on the environmental information and the potential danger caused by the first object, the light control information is determined based on the environmental information, the projection image, and the area to be projected, and the light control information includes at least one of the angle, brightness, or color of the light.

[0031] In this embodiment, the projection image is determined based on the environmental information and the potential danger caused by the first object, and the lighting control information is determined based on the environmental information, the projection image and the image area. Therefore, the projection image and the lighting control information can be combined with the potential danger caused by the first object and the external environmental information, which not only improves the readability of the danger warning, but also improves the projection effect.

[0032] According to the second aspect or any one of the first possible implementation manner of the second aspect to the third possible implementation manner of the second aspect, in a fourth possible implementation manner of the light projection method, the method further includes: determining a potential dangerous scene of the first object.

[0033] In this embodiment, the potential danger scene of the first object can be determined, which not only facilitates identification of the potential danger level of the first object, but also facilitates determination of the projection image, thereby improving the accuracy of light projection.

[0034] According to a fourth possible implementation manner of the second aspect, in a fifth possible implementation manner of the light projection method, the method further includes: determining a potential danger level of the first object based on at least one of the potential danger area or the potential danger scene.

[0035] In this embodiment, the potential danger level of the first object is determined based on at least one of the potential danger area or the potential danger scene, so that the potential danger level can be associated with the potential danger area or the potential danger scene, thereby improving the accuracy of the potential danger level of the first object.

[0036] According to the second aspect, in a sixth possible implementation of the light projection method, determining that the first object is a potentially dangerous object based on the status information includes: predicting a motion trajectory of the first object within a preset time period in the future based on the status information; and determining that the first object is a potentially dangerous object based on the motion trajectory.

[0037] In this embodiment, the motion trajectory of the first object within a preset time period in the future can be predicted based on the state information, and the first object can be determined as a potentially dangerous object based on the motion trajectory. Thus, the potentially dangerous object can be determined by the motion trajectory, which not only improves the processing efficiency but also improves the accuracy of the potentially dangerous object.

[0038] According to the sixth possible implementation manner of the second aspect, in the seventh possible implementation manner of the light projection method, the future preset time period includes multiple future moments, the motion trajectory of the first object within the future preset time period includes the position areas of the first object at the multiple future moments, and determining the first object as a potentially dangerous object based on the motion trajectory includes: for an object that is a vehicle among the first objects, at any future moment within the future preset time period, judging whether the position area of ​​the object at the future moment overlaps with the position areas of other objects among the first objects other than the object at the future moment; if there is overlap in the position areas, determining that the object and other objects that overlap with the position area of ​​the object are potentially dangerous objects.

[0039] In this embodiment, the first object is determined to be a potentially dangerous object by overlapping the location areas at the same future time. This is simple, fast, and highly accurate, and can improve processing efficiency.

[0040] According to the second aspect or any one of the first possible implementation manner of the second aspect to the seventh possible implementation manner of the second aspect, in an eighth possible implementation manner of the light projection method, the light projection device is applied to a vehicle or roadside infrastructure.

[0041] In this embodiment, the light projection device can be applied to vehicles or roadside infrastructure. The vehicles or roadside infrastructure can use their own perception functions to promptly detect potential dangers caused by other traffic participants and provide reminders of the potential dangers through light projection, thereby improving traffic safety.

[0042] In a third aspect, an embodiment of the present application provides a light projection device, comprising a processor and a memory for storing processor-executable instructions, wherein the processor is configured to implement the light projection method of the above-mentioned second aspect or one or more of the multiple possible implementation methods of the second aspect when executing the instructions.

[0043] According to an embodiment of the present application, by obtaining environmental information and status information of the first object, and based on the status information, determining that the first object is a potentially dangerous object, and then determining the potential dangerous area of ​​the first object; then, based on the potentially dangerous area and the environmental information, determining the area to be projected, the area to be projected is an area where there is no light projection and light projection is allowed, and determining whether the area to be projected is within the projection range of the projection module; when the area to be projected is within the projection range of the light projection device, light projection is performed in the area to be projected to prompt the potential danger caused by the first object, so that when it is perceived that there is a potential danger to other traffic participants, the potential danger can be prompted or warned through light projection, and when projecting, the area where there is no light projection and light projection is allowed is determined as the area to be projected to avoid overlapping projections, improve the warning effect, and thus form a danger information sharing mechanism, effectively improving traffic safety.

[0044] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, wherein when the computer program instructions are executed by a processor, the light projection method of the second aspect or one or more of the multiple possible implementation methods of the second aspect is implemented.

[0045] According to an embodiment of the present application, by obtaining environmental information and status information of the first object, and based on the status information, determining that the first object is a potentially dangerous object, and then determining the potential dangerous area of ​​the first object; then, based on the potentially dangerous area and the environmental information, determining the area to be projected, the area to be projected is an area where there is no light projection and light projection is allowed, and determining whether the area to be projected is within the projection range of the projection module; when the area to be projected is within the projection range of the light projection device, light projection is performed in the area to be projected to prompt the potential danger caused by the first object, so that when it is perceived that there is a potential danger to other traffic participants, the potential danger can be prompted or warned through light projection, and when projecting, the area where there is no light projection and light projection is allowed is determined as the area to be projected to avoid overlapping projections, improve the warning effect, and thus form a danger information sharing mechanism, effectively improving traffic safety.

[0046] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer-readable code, or a non-volatile computer-readable storage medium carrying a computer-readable code. When the computer-readable code runs in an electronic device, the processor in the electronic device executes the light projection method of the above-mentioned second aspect or one or more of the multiple possible implementations of the second aspect.

[0047] According to an embodiment of the present application, by obtaining environmental information and status information of the first object, and based on the status information, determining that the first object is a potentially dangerous object, and then determining the potential dangerous area of ​​the first object; then, based on the potentially dangerous area and the environmental information, determining the area to be projected, the area to be projected is an area where there is no light projection and light projection is allowed, and determining whether the area to be projected is within the projection range of the projection module; when the area to be projected is within the projection range of the light projection device, light projection is performed in the area to be projected to prompt the potential danger caused by the first object, so that when it is perceived that there is a potential danger to other traffic participants, the potential danger can be prompted or warned through light projection, and when projecting, the area where there is no light projection and light projection is allowed is determined as the area to be projected to avoid overlapping projections, improve the warning effect, and thus form a danger information sharing mechanism, effectively improving traffic safety.

[0048] These and other aspects of the present application will become more readily apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the application and, together with the description, serve to explain the principles of the application.

[0050] Figure 1AA schematic diagram illustrating an application scenario of a light projection device according to an embodiment of the present application.

[0051] Figure 1B A schematic diagram illustrating an application scenario of a light projection device according to an embodiment of the present application.

[0052] Figure 2 A schematic structural diagram of a light projection device according to an embodiment of the present application is shown.

[0053] Figure 3 A schematic structural diagram of a light projection device according to an embodiment of the present application is shown.

[0054] Figure 4 A schematic structural diagram of a light projection device according to an embodiment of the present application is shown.

[0055] Figure 5 A schematic diagram illustrating a processing procedure of a processing module according to an embodiment of the present application.

[0056] Figure 6 A schematic structural diagram of a light projection device according to an embodiment of the present application is shown.

[0057] Figure 7 A flow chart of a light projection method according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0058] Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0059] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0060] In addition, numerous specific details are provided in the detailed description below to better illustrate the present application. Those skilled in the art will appreciate that the present application can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0061] Currently, vehicles typically use vehicle-to-everything (V2X) wireless communication technology to exchange information with surrounding vehicles, infrastructure, or pedestrians to detect traffic conditions on surrounding roads and improve traffic safety.

[0062] However, to use V2X technology for communication, all traffic participants must be equipped with V2X terminals. However, many traditional vehicles, infrastructure, or pedestrian terminals are not equipped with V2X terminals and lack V2X capabilities. Moreover, even if pedestrian terminals have V2X capabilities, they may ignore the danger warnings from the terminals.

[0063] In some scenarios, the vehicle can also use the on-board light road projection device to project signs or warning information on the road surface to assist driving or provide pedestrians with vehicle-related reminders. For example, when the vehicle is reversing or opening the door, the on-board light road projection device can project reminder information about the vehicle reversing or opening the door on the road surface.

[0064] However, existing on-board road projection systems primarily enhance the driving experience and safety of the vehicle itself, without providing warnings to surrounding vehicles, pedestrians, and other traffic participants of potential dangers. Furthermore, each vehicle independently projects light onto the road, resulting in multiple overlapping images on the road surface. This can easily cause confusion for surrounding traffic users, impacting traffic safety.

[0065] In order to solve the above technical problems, the present application provides a light projection device. The light projection device of the embodiment of the present application can sense the traffic conditions of the surrounding roads, and when a potential danger related to other traffic participants (such as surrounding vehicles, pedestrians, non-motor vehicles, etc.) is found, it determines the area to be projected (the area where light projection does not exist and light projection is allowed), and when the area to be projected is within the projection range of the light projection device, it prompts other traffic participants of the potential danger caused by light projection, so that when the light projection device senses that there is a potential danger to other traffic participants, it can prompt or warn of the potential danger through light projection, and when projecting, the area where light projection does not exist and light projection is allowed is determined as the area to be projected, so as to avoid overlapping projections, reduce the overlap of multiple images on the road surface, improve the projection and warning effects, and further form a hazard information sharing mechanism, effectively improving traffic safety.

[0066] The light projection device of the embodiments of the present application can be applied to vehicles. The vehicle can utilize its own perception capabilities to promptly detect potential hazards posed by other traffic participants and provide warnings of these potential hazards through light projection. Vehicles can include both moving and stationary vehicles. This application does not restrict the vehicle's motion state.

[0067] Figure 1A A schematic diagram showing an application scenario of a light projection device according to an embodiment of the present application is shown. Figure 1A As shown, vehicle 10 is a powered-off vehicle parked on the side of the road (unable to sense), while vehicles 11 and 12 are driving. Vehicle 11 is equipped with a light projection device and has sensing capabilities, while vehicle 12 does not. While driving, vehicle 11 senses that pedestrian 13 is moving toward the motorway, i.e., it senses a ghost peeking scenario. It also senses that vehicle 12 is approaching the position where pedestrian 13 is about to peeke out. However, due to the obstruction of vehicle 10, the driver of vehicle 12 is unable to detect pedestrian 13 in time, making vehicle 12 a potential danger. In this case, vehicle 11 can determine a projection area 14 for vehicle 12 (e.g., the area where pedestrian 13 is about to peeke out). This projection area 14 is an area where no light projection exists but where light projection is permitted. It then determines whether this projection area 14 is within the projection range of the light projection device. If so, the right front headlight projects light into this projection area 14, displaying warning messages or signs such as "Pedestrian Ahead" or "Watch Out for Pedestrians" on the road surface to alert vehicle 12.

[0068] Figure 1B A schematic diagram showing an application scenario of a light projection device according to an embodiment of the present application is shown. Figure 1B As shown, vehicles 15 and 17 are both in motion and lack sensing capabilities. Vehicle 16 is a vehicle parked on the side of the road but not powered off (e.g., a vehicle waiting for a red light to turn green, a bus parked on the side of the road waiting for passengers to board or disembark, or a vehicle temporarily parked on the side of the road waiting for someone to board). Vehicle 16 is equipped with a light projection device and possesses sensing capabilities. Although stationary, vehicle 16 is not powered off and is still sensing. If vehicle 16 senses a pedestrian 19 in front of it attempting to cross the road, to improve traffic safety, vehicle 16 may determine a projection area 18 for pedestrian 19 (e.g., the area in front of the pedestrian). Projection area 18 is an area where no light projection exists but is permitted. It then determines whether projection area 18 is within the projection range of vehicle 16's light projection device. If so, the vehicle's left headlight projects light onto projection area 18, displaying a message or sign such as "Pedestrian Crossing the Road" to alert ordinary vehicles behind it that lack sensing capabilities, such as vehicles 15 and 17.

[0069] The light projection device of the embodiment of the present application can also be applied to roadside infrastructure such as roadside units (RSUs). For example, the light projection device applied to the RSU can sense the traffic conditions on the surrounding roads. When it senses dangerous scenes such as ghosting or traffic accidents ahead, it determines the area to be projected. The area to be projected is an area where light projection does not exist but is allowed. It also determines whether the area to be projected is within the projection range of the RSU. If so, light projection is implemented to project warning information or warning signs into the area to be projected, so as to alert traffic participants who do not have perception capabilities (for example, do not have V2X capabilities) and pedestrians who have perception capabilities but often ignore warning information.

[0070] Figure 2 FIG. 1 is a schematic diagram showing the structure of a light projection device according to an embodiment of the present application. Figure 2 As shown, the light projection device 200 includes an information acquisition module 210 , a processing module 220 and a projection module 230 , and the processing module 220 is connected to the information acquisition module 210 and the projection module 230 , respectively.

[0071] The information acquisition module 210 may be a sensor, including but not limited to at least one of a camera, a LiDAR, a V2X communication unit, a map unit, an inertial measurement unit (IMU), a global positioning system (GPS), and a global navigation satellite system (GNSS).

[0072] The information acquisition module 210 may also be a module having an information receiving function, such as a V2X communication module, a cellular communication module, a Bluetooth communication module, etc. This application does not limit the specific implementation of the information acquisition module.

[0073] The information acquisition module 210 can be used to obtain environmental information and status information of the first object. That is, the first object is the traffic participant within the perception area of ​​the light projection device 200. The first object may include at least one of a vehicle or a pedestrian. For example, when vehicle A equipped with the light projection device 200 is driving on a highway, the traffic participants within its perception area are all vehicles, in which case the first object is a vehicle; when vehicle A equipped with the light projection device 200 is driving on a country road, there are no vehicles around, only passing pedestrians, the traffic participants within the perception area of ​​vehicle A are all pedestrians, in which case the first object is a pedestrian; when vehicle A equipped with the light projection device 200 is driving on a city road, there are both vehicles and pedestrians around, the traffic participants within the perception area of ​​vehicle A include vehicles and pedestrians, in which case the first object is both vehicles and pedestrians.

[0074] In one possible implementation, the information acquisition module 210 may identify the first object from the acquired data by information matching. For example, the acquired data may be matched with preset vehicle information to identify the first object as a vehicle; the acquired data may be matched with preset pedestrian information to identify the first object as a pedestrian.

[0075] In one possible implementation, the state information of the first object may include at least one of the position information or motion information of the first object. That is, the state information of the first object includes the position information of the first object, or the state information of the first object includes the motion information of the first object, or the state information of the first object includes the position information and state information of the first object. The motion information may include, for example, the moving speed, acceleration, motion state, etc. of the first object. The state information of the first object may also include other information related to the state of the first object. Those skilled in the art may set the specific content of the state information according to actual conditions, and this application does not impose any restrictions on this.

[0076] In one possible implementation, the environmental information may include information related to the environment, such as brightness, temperature, road surface conditions (e.g., snowy road surface), etc. Those skilled in the art may set the specific content of the environmental information according to actual conditions, and this application does not impose any limitation thereto.

[0077] In one possible implementation, the information acquisition module 210 may send the acquired environmental information and the state information of the first object to the processing module 220 in chronological order. The environmental information and state information may be raw data acquired by the information acquisition module 210, i.e., data that has not been preprocessed, or data that has been preprocessed, such as by denoising, sampling, and standardization, on the raw data acquired by the information acquisition module 210. This application is not limited to this.

[0078] The processing module 220 can be used to determine that the first object is a potentially dangerous object based on the status information of the first object obtained by the information acquisition module 210, and then determine the potential dangerous area of ​​the first object, and then determine the area to be projected based on the potential dangerous area and the environmental information obtained by the information acquisition module 210. The area to be projected is an area where there is no light projection and light projection is allowed, and determine whether the area to be projected is within the projection range of the projection module 230.

[0079] The processing module 220 can be a general-purpose processor, a dedicated processor, or other integrated circuits, single-chip microcomputers, microprocessors, chips, etc. that can perform data processing. Among them, the processor (including general-purpose processors, dedicated processors, and microprocessors) can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. This application does not limit the hardware implementation of the processing module.

[0080] The projection module 230 may project light in the area to be projected in response to the first result determined by the processing module 220 to indicate potential danger caused by the first object, wherein the first result is that the area to be projected is within the projection range of the projection module.

[0081] In one possible implementation, projection module 230 can project light into the projection area using a projection light source. The projection light source can be a vehicle lamp connected to projection module 230, such as the vehicle's left or right front headlight. The projection light source can also be a light source built into projection module 230, or an independent light source connected to but external to projection module 230. This application does not limit the configuration of the projection light source.

[0082] Figure 3 FIG. 1 is a schematic diagram showing the structure of a light projection device according to an embodiment of the present application. Figure 3 As shown, the light projection device 200 includes an information acquisition module 210, a hazard identification module 240, a projection control module 241 and a projection module 230. Figure 2 Similar, no further description is given here.

[0083] and Figure 2 compared to, Figure 3 The hazard identification module 240 and the projection control module 241 in the system are jointly completed. Figure 2All functions of the processing module 220 are included in the processing module 220. Among them, the danger identification module 240 can be used to determine that the first object is a potentially dangerous object based on the status information of the first object obtained by the information acquisition module 210, and then determine the potential danger area of ​​the first object. Then, based on the potential danger area and the environmental information obtained by the information acquisition module 210, the area to be projected is determined. The area to be projected is an area where no light projection exists and light projection is allowed. The projection control module 241 can be used to determine whether the area to be projected is within the projection range of the projection module 230. In response to the first result determined by the projection control module 241, the projection module 230 can perform light projection in the area to be projected to indicate the potential danger caused by the first object, wherein the first result is that the area to be projected is within the projection range of the projection module.

[0084] It should be understood that the above merely illustrates the functional division of hazard identification module 240 and projection control module 241. Those skilled in the art may configure these functions based on practical circumstances, and this application does not impose any limitations thereto. Furthermore, hazard identification module 240 and projection control module 241 may be deployed on the same or different hardware, and those skilled in the art may configure these functions based on practical circumstances, and this application does not impose any limitations thereto.

[0085] Figure 4 FIG. 1 shows a schematic structural diagram of a light projection device according to an embodiment of the present application. Figure 2 Compared with the light projection device shown, Figure 4 The light projection device shown also includes a gateway 260 and an external communication module 270. The external communication module 270 serves as an external interface of the light projection device 200 and is connected to the information acquisition module 210, the processing module 220, and the projection module 230 through the gateway 260. Over-the-air (OTA) technology can be used to update the algorithms, scene libraries, etc. of the information acquisition module 210, the processing module 220, and the projection module 230 through the external communication module 270 and the gateway 260.

[0086] In one possible implementation, Figure 3 The light projection device shown may also include a gateway and an external communication interface. Figure 4 The gateway and external communication interface are similar and will not be described here.

[0087] Figure 5 Schematic diagram showing the processing process of the processing module according to an embodiment of the present application. Figure 5 As shown, the processing process of the processing module 220 in the light projection device includes step S501, step S502, step S503 and step S504.

[0088] In step S501, a first object is determined to be a potentially dangerous object according to state information.

[0089] The processing module can determine whether the first object is potentially dangerous based on the state information of the first object obtained by the information acquisition module (i.e., at least one of the position information and motion information of the first object) by judging whether the collision probability of the first object within a preset time period in the future is greater than a preset collision probability threshold, whether the motion trajectories of the first object within the preset time period in the future overlap, or whether the position areas of the first object at one or certain moments in the future overlap. If the first object is potentially dangerous, the first object is determined to be a potentially dangerous object.

[0090] In a possible implementation, step S501 may include: predicting a movement trajectory of the first object within a preset time period in the future based on the state information; and determining that the first object is a potentially dangerous object based on the movement trajectory.

[0091] The processing module may determine the current location area of ​​the first object based on the state information of the first object, such as the location information of the first object, by position fitting, determining key locations, or other methods. The location area of ​​the first object may be represented by the area of ​​the first object's circumscribed space. The circumscribed space may be a cube, a cuboidal shape, a polyhedron, or the like, and this application does not impose any restrictions on the specific shape of the circumscribed space.

[0092] After determining the current location of the first object, the motion trajectory of the first object within a preset time period in the future can be predicted based on the current location of the first object and the location of the first object at at least one historical moment, or based on the current location of the first object and motion information (e.g., movement speed, acceleration, etc.) in the first object's state information. It should be understood that those skilled in the art may also predict the motion trajectory of the first object using other methods, and this application does not limit this.

[0093] In a possible implementation, the future preset time period may include multiple future moments, and the motion trajectory of the first object within the future preset time period may include the location areas of the first object at multiple future moments within the future preset time period.

[0094] For example, the future preset time length is 10 seconds, the moment interval is 0.5 seconds, and the future preset time length (10 seconds) includes 20 future moments. The processing module can predict the movement trajectory of the first object within the future preset time length (within 10 seconds) based on the position area of ​​the first object at the current moment and the position area of ​​the first object at at least one historical moment. The movement trajectory includes the position area of ​​the first object at 20 future moments.

[0095] In a possible implementation, the motion trajectory of the first object within a preset time period in the future may further include the probability (ie, possibility) of the first object being in the corresponding position area at each future moment.

[0096] For example, for the 20 future moments within a preset time length, the position area of ​​the first object at the first future moment can be called the first position area, and the probability of the first object being in the first position area at the first future moment can be called the first position probability; the position area of ​​the first object at the second future moment can be called the second position area, and the probability of the first object being in the second position area at the second future moment can be called the second position probability; and so on, the position area of ​​the first object at the 20th future moment can be called the 20th position area, and the probability of the first object being in the 20th position area at the 20th future moment can be called the 20th position probability.

[0097] The movement trajectory of the first object within a preset time period in the future (within 10 seconds) may include the position areas of the first object at 20 future moments (the 1st position area, the 2nd position area, ..., the 20th position area) and the probability of the first object being in the corresponding position area at each future moment (the 1st position probability, the 2nd position probability, ..., the 20th position probability).

[0098] It should be understood that those skilled in the art can set the specific values ​​of future preset durations and time intervals based on actual conditions (such as the memory size of the processing module, processing speed and other performance indicators), and this application does not impose any restrictions on this.

[0099] In one possible implementation, when the first object has multiple potential location areas at a future moment, the probability of the first object being in each potential location area at the future moment can be determined respectively, and the potential location area with the highest probability is determined as the location area of ​​the first object at the future moment.

[0100] In one possible implementation, after determining the motion trajectory of the first object within a preset time period in the future, it can be determined whether the first object is potentially dangerous by judging whether the collision probability of the first object within the preset time period in the future is greater than a preset collision probability threshold, or by judging whether there is overlap in the motion trajectories, etc. If the first object is potentially dangerous, the first object is determined to be a potentially dangerous object.

[0101] For example, the first object is multiple objects. When determining whether the first object is potentially dangerous by judging whether the collision probability of the first object within a preset time period in the future is greater than a preset collision probability threshold, the processing module can determine the collision probability between each object in the first object based on the motion trajectory of each object in the first object within the preset time period in the future, and the collision probability includes at least one of the collision probability between vehicles or the collision probability between vehicles and pedestrians, and judge whether the collision probability is greater than or equal to the preset collision probability threshold; when the collision probability is greater than or equal to the collision probability threshold, the object in the first object related to the collision probability is determined as a potentially dangerous object.

[0102] In one possible implementation, the preset future time period may include multiple future moments, and the motion trajectory of the first object within the preset future time period may include the location areas of the first object at multiple future moments within the preset future time period. When the processing module determines that the first object is a potentially dangerous object based on the motion trajectory, the determination may be made in the following manner:

[0103] The first object is a plurality of objects. For an object that is a vehicle among the first objects, at any future moment within a preset time period, the processing module may determine whether the location area of ​​the object at that future moment overlaps with the location areas of other objects (including vehicles and pedestrians) in the first object other than the object at that future moment. If the location areas overlap, the object and the other objects whose location areas overlap with the object may be determined as potentially dangerous objects. In other words, the potentially dangerous objects may cause a collision at a certain future moment, thereby affecting traffic safety.

[0104] Determining the first object as a potentially dangerous object by overlapping the position areas at the same future moment is simple, fast, and highly accurate, and can improve the processing efficiency of the processing module.

[0105] In one possible implementation, for the first object that is a pedestrian, the position area of ​​the pedestrian at a certain future moment overlaps with the position area of ​​the vehicle at the same future moment, which has been judged in the above-mentioned manner. As for the situation where the position area of ​​the pedestrian at a certain future moment overlaps with the position areas of other pedestrians at the same future moment, due to the subjective obstacle avoidance behavior of the pedestrian, even if the position areas of the pedestrians at a certain future moment overlap, no collision will occur, so there is no potential danger.

[0106] In a possible implementation, the potentially dangerous object may include at least one group of objects, each group of objects being the same potentially dangerous traffic participant. In other words, the potentially dangerous object may include at least two objects.

[0107] In step S502, a potential danger area of ​​the first object is determined.

[0108] In the case where the first object is a potentially dangerous object, a potentially dangerous area of ​​the first object can be determined, wherein the potentially dangerous area includes an area where a collision may occur. Optionally, the potentially dangerous area of ​​the first object can be determined based on the motion trajectory of the first object. For example, for a first object with overlapping position areas in the motion trajectory, the overlapping area can be determined as the potentially dangerous area of ​​the first object, or the overlapping area and an area of ​​a preset size around it can be used to determine the potentially dangerous area for the first object. It should be understood that those skilled in the art can set the method for determining the potentially dangerous area according to actual circumstances, and this application does not impose any restrictions on this.

[0109] In one possible implementation, the accuracy of the potential danger area of ​​the first object can be determined based on at least one of the size, location, and probability of the first object being in an overlapping location area of ​​the potential danger area. The accuracy can be used to indicate the possibility of the first object colliding in the potential danger area.

[0110] In one possible implementation, when the first object is a potentially dangerous object, a potentially dangerous scenario for the first object may also be determined. The potentially dangerous scenario is a scenario in which the first object may collide, including a vehicle-to-vehicle collision (e.g., a rear-end collision, a vehicle-to-vehicle collision, etc.) or a vehicle-to-pedestrian collision (e.g., a pedestrian suddenly appears in the vehicle's lane).

[0111] In one possible implementation, a scene library including multiple potentially dangerous scenes may be preset, and the potentially dangerous scene of the first object may be determined by feature comparison, feature matching, etc. This application does not limit the method for determining the potentially dangerous scene.

[0112] By determining the potential danger scene of the first object, it is not only easy to identify the potential danger level of the first object, but also easy to determine the projection image, thereby improving the accuracy of light projection.

[0113] In step S503, a to-be-projected area is determined according to the potential danger area and the environmental information, where the to-be-projected area is an area where light projection does not exist but is allowed.

[0114] In one possible implementation, when determining the area to be projected, a determination may be made as to whether light projection exists within the potential danger area of ​​the first object at the current moment. Alternatively, an image or feature information of the potential danger area at the current moment may be obtained, and image analysis, feature comparison, or other methods may be used to determine whether light projection exists within the potential danger area at the current moment.

[0115] For example, characteristic information of light projection can be preset. When judging whether there is light projection in the potential danger area at the current moment, the similarity between the characteristic information of the potential danger area at the current moment (which can be extracted from perception data such as images) and the preset characteristic information of light projection can be calculated. When the similarity is less than or equal to a preset similarity threshold, it is considered that there is no light projection in the potential danger area at the current moment; when the similarity is greater than the preset similarity threshold, it is considered that there is light projection in the potential danger area at the current moment.

[0116] In one possible implementation, an image or feature information of the current potential danger zone can be input into a light projection recognition network for recognition, obtaining a recognition result. Based on the recognition result, it is determined whether there is a light projection within the current potential danger zone. The light projection recognition network is a trained neural network, such as a convolutional neutral network (CNN). This application does not impose any restrictions on the network type of the light projection recognition network.

[0117] In one possible implementation, if no light projection is currently being performed within a potentially hazardous area of ​​a first object, a determination can be made based on environmental information as to whether light projection is permitted within the potentially hazardous area. For example, if the brightness, road surface conditions, and other environmental information meet preset projection conditions, and if no road markings are present within the potentially hazardous area, light projection can be deemed permitted within the potentially hazardous area. Otherwise, light projection is deemed disallowed within the potentially hazardous area. This approach avoids image overlap caused by projection onto existing road markings, thereby improving projection quality.

[0118] If no light projection exists within the potential danger area of ​​the first object at the current moment and light projection is permitted, an area to be projected is determined. For example, the potential danger area may be determined as the area to be projected. Alternatively, the time of occurrence of the potential danger corresponding to the potential danger area may be determined, and the area to be projected is determined based on the time of occurrence of the potential danger. For example, if the difference between the time of occurrence of the potential danger corresponding to the potential danger area and the current moment is less than a preset difference threshold, the potential danger area or a region within the potential danger area may be determined as the area to be projected.

[0119] In one possible implementation, the motion trajectory of the first object within a preset future timeframe may also be considered when determining the area to be projected. A similar method can be used to determine that light projection is not present within the area containing the first object's motion trajectory within the preset future timeframe and within the potential danger zone, and that light projection is permitted. The area to be projected is then determined based on the first object's motion trajectory within the preset future timeframe and the potential danger zone.

[0120] For example, the time of occurrence of a potential danger corresponding to a potential danger area can be determined, and if the difference between the time of occurrence of the potential danger and the current time is greater than or equal to a preset difference threshold, the central area within the position area where the first object is located at a future time (e.g., the second future time) in the motion trajectory of the first object can be determined as the area to be projected. The central area is the area including the center point of the position area, and the size of the central area can be set according to actual circumstances, and this application does not impose any restrictions on this.

[0121] It should be understood that other factors, such as potential dangerous scenarios, may also be considered when determining the area to be projected, and this application does not limit this. The area to be projected may also be located at other locations. For example, an area of ​​a preset size located in front of the driver within the location of the first object at a certain future moment may be determined as the area to be projected, so that the driver can view the projected information. Those skilled in the art may set the specific location of the area to be projected based on actual circumstances, and this application does not limit this.

[0122] In one possible implementation, when determining the area to be projected, the possible projection area can be determined first based on the potential danger area and environmental information, and a similar method to the above can be used to determine whether there is light projection in the possible projection area and whether light projection is allowed in the possible projection area; if there is no light projection in the possible projection area and light projection is allowed, the possible projection area is determined as the area to be projected.

[0123] In step S504, it is determined whether the area to be projected is within the projection range of the projection module.

[0124] According to the projection range of the projection module, it can be determined whether the area to be projected is within the projection range of the projection module by methods such as area coverage and position comparison.

[0125] When the area to be projected is within the projection range of the projection module, a first result may be sent to the projection module so that the projection module projects light in the area to be projected in response to the first result to indicate potential danger caused by the first object.

[0126] In one possible implementation, when the area to be projected is within the projection range of the projection module, the processing module may further be configured to generate a projection image and lighting control information. The projection image is determined based on environmental information and the potential hazard caused by the first object, and the lighting control information is determined based on the environmental information, the projection image, and the area to be projected. The lighting control information includes at least one of the angle, brightness, or color of the light.

[0127] For example, when generating a projection image, the external brightness can be determined based on environmental information, and the projection image can be determined based on the external brightness and the potential danger caused by the first object, so that the projection image can accurately describe the potential danger and be easy to identify, for example, the contrast between the projection image and the external brightness is large.

[0128] In one possible implementation, when generating a projection image, a potential dangerous scenario of the first object may also be considered. Multiple objects related to the potential dangerous scenario of the first object may be determined, and a projection image may be generated for each object. The projection images of different objects may be different. For example, the potential dangerous scenario of the first object is a scenario where a vehicle and a pedestrian may collide. In this scenario, the projection image generated for the pedestrian may be "vehicle ahead", and the projection image generated for the vehicle may be "pedestrian ahead". The projection image can be set according to actual conditions, and this application does not impose any restrictions on this.

[0129] In one possible implementation, if the projected image has a direction, the movement direction of the second object can be determined based on the motion trajectory of the second object corresponding to the projected image. This direction can then be used to determine the direction of the projected image of the second object, ensuring that the viewing direction of the projected image is consistent with the movement direction of the second object. The second object is the object of the projected image. For example, if a projected image is generated for vehicle B, the second object corresponding to the projected image is vehicle B.

[0130] In one possible implementation, lighting control information can be determined based on environmental information, the projected image, and the projection area. The lighting control information includes at least one of the angle, brightness, and color of the light. For example, the relative position of the projection area and the projection module can be determined, and the angle of the light during projection can be determined based on this relative position and the projected image. The brightness and color of the light during projection can be determined based on environmental information (such as road surface conditions, brightness, etc.) and the projected image, within the projection capabilities of the projection module (such as the projectable color and brightness). For example, if the road surface is snowy, the color of the light during projection can be determined to be red. In this way, lighting control information can be determined in combination with surrounding environmental information, thereby improving the projection effect of the light projection device on complex road surfaces.

[0131] In a possible implementation, after the processing module generates the projection image and the light control information, it can send the projection image and the light control information to the projection module, and the projection module can perform light projection in the area to be projected according to the projection image and the light control information.

[0132] By determining the projection image based on the environmental information and the potential danger caused by the first object, and determining the lighting control information based on the environmental information, the projection image and the image area, the projection image and the lighting control information can be combined with the potential danger caused by the first object and the external environmental information, which not only improves the readability of the danger warning, but also improves the projection effect.

[0133] In a possible implementation, when the first object is a plurality of objects, the processing module is further configured to determine a projection order of the plurality of objects according to a potential danger level of each of the plurality of objects.

[0134] When determining the projection order, the potential danger level of each of the multiple objects can be first determined based on at least one of the potential danger areas or potential danger scenes. For example, for any object, the time of occurrence of the potential danger corresponding to the potential danger area of ​​the object can be determined, and the potential danger level of the object can be determined based on the difference between the time of occurrence of the potential danger and the current time, wherein the smaller the difference, the higher the corresponding potential danger level; alternatively, different weights can be set in advance for different potential danger scenes, and for any object, the weight corresponding to the potential danger scene of the object can be determined, and the potential danger level of the object can be determined based on the weight, wherein the larger the weight, the higher the corresponding potential danger level; alternatively, for any object, the difference between the time of occurrence of the potential danger corresponding to the potential danger area of ​​the object and the current time can be adjusted based on the weight corresponding to the potential danger scene of the object to obtain the adjusted difference, and the potential danger level of the object can be determined based on the adjusted difference.

[0135] In one possible implementation, when determining the potential danger level of each of multiple objects, for any object, the accuracy of the potential danger zone of the object may be used as a weight, and the difference between the moment of occurrence of the potential danger corresponding to the potential danger zone of the object and the current moment may be adjusted to obtain an adjusted difference. The potential danger level of the object is then determined based on the adjusted difference. It should be understood that those skilled in the art may configure the method for determining the potential danger level based on actual circumstances, and this application does not impose any limitation thereto.

[0136] After determining the potential danger level of each of the multiple objects, the projection order of the multiple objects can be determined based on the potential danger level. For example, the multiple objects can be sorted from high to low according to their potential danger level to obtain the projection order of the multiple objects. Optionally, when determining the projection order of the multiple objects, whether the projection module can project onto multiple objects simultaneously can also be considered. When the projection module can project onto multiple objects simultaneously, for example, when the projection module includes three independent projection light sources and can project onto three objects simultaneously, three projection queues can be determined, that is, each projection light source corresponds to a projection queue, and the objects in each projection queue are arranged in order from high to low potential danger level. Alternatively, a single projection queue can be determined, and the objects in this projection queue are also arranged in order from high to low potential danger level, but the projection module will distribute the objects in this projection queue to the three projection light sources for projection according to the projection order, such as simultaneously projecting light onto objects 1-3 in the projection queue.

[0137] In one possible implementation, when projecting onto multiple objects simultaneously, the potentially dangerous scenarios for the multiple objects being projected may be different. For example, the projection module may project onto three objects simultaneously: the first potentially dangerous scenario for the first object is a possible rear-end collision, the second potentially dangerous scenario for the second object is a possible vehicle scratch, and the third potentially dangerous scenario for the third object is a possible pedestrian peeking out of the corner of their eye. By projecting onto multiple objects simultaneously, projection efficiency can be improved, thereby enhancing traffic safety.

[0138] In a possible implementation, after determining the projection order of the multiple objects, the processing module sends the projection order to the projection module, so that the projection module sequentially performs multiple light projections corresponding to the multiple objects one by one according to the projection order.

[0139] By determining the projection order of multiple objects, objects with a high degree of potential danger can be projected first, thereby improving the warning effect, effectively reducing the incidence of potential dangers, and improving traffic safety. According to an embodiment of the present application, a light projection device includes an information acquisition module, a processing module, and a projection module. The information acquisition module acquires environmental information and status information of a first object. The processing module can determine that the first object is a potentially dangerous object based on the status information and determine the potential danger area of ​​the first object. Then, based on the potential danger area and the environmental information, a to-be-projected area is determined. The to-be-projected area is an area where light projection does not exist and light projection is allowed, and whether the to-be-projected area is within the projection range of the projection module is determined. The projection module responds to the first result of the processing module (the to-be-projected area is within the projection range of the projection module) and projects light in the to-be-projected area to prompt the potential danger caused by the first object. In this way, the light projection device can use its own perception and projection functions to prompt or warn other traffic participants of the potential danger through light projection when it perceives that there is a potential danger. When projecting, the area where there is no light projection and light projection is allowed is determined as the to-be-projected area to avoid overlapping projections, improve the projection and warning effect, and thus form a danger information sharing mechanism to effectively improve traffic safety.

[0140] Figure 6 FIG. 1 is a schematic diagram showing the structure of a light projection device according to an embodiment of the present application. Figure 6 As shown, the light projection device 200 includes an information acquisition module 210, a processing module 220, a projection module 230 and a sending module 280. The information acquisition module 210, the processing module 220 and the projection module 230 are similar to those described above and are not described in detail here.

[0141] The sending module 280 can send information that the first object is a potentially dangerous object and the area to be projected to other devices in response to the second result determined by the processing module 220, wherein the second result is that the area to be projected is not within the projection range of the projection module 230.

[0142] Among them, other devices can be, for example, other light projection devices whose projection range can cover the area to be projected, or forwarding devices (such as RSU) that do not have a projection function, or other light projection devices whose projection range cannot cover the area to be projected.

[0143] When the area to be projected is not within the projection range of the projection module 230, that is, when the area to be projected exceeds the projection range of the projection module 230, the processing module 220 can send the information that the first object is a potentially dangerous object and the area to be projected to the sending module 280. After receiving the information that the first object is a potentially dangerous object and the area to be projected, the sending module 280 can send the information that the first object is a potentially dangerous object and the area to be projected to other devices through wireless communication methods, such as V2X communication, Bluetooth communication, cellular communication, etc., so that other devices with projection functions can perform light projection on the potential danger caused by the first object, or other devices without projection functions can relay the information that the first object is a potentially dangerous object and the area to be projected.

[0144] The information indicating that the first object is a potentially dangerous object may include, for example, at least one of the following: the first object's current location, potentially dangerous area, potentially dangerous scene, potential danger level, and movement trajectory. It should be understood that those skilled in the art may configure the specific content of the information indicating that the first object is a potentially dangerous object based on actual circumstances, and this application does not impose any limitations thereto.

[0145] According to an embodiment of the present application, when the area to be projected is not within the projection range of the projection module, the light projection device can send the information that the first object is a potential dangerous object and the area to be projected to other devices through the sending module, so that other devices with projection function can perform light projection on the potential danger caused by the first object, or other devices without projection function can relay the information that the first object is a potential dangerous object and the area to be projected, so that other devices can perform light projection or relay forwarding on the potential danger whose area to be projected is not within the projection range of the light projection device, which can not only improve the projection efficiency, but also realize the sharing of danger information and improve traffic safety.

[0146] Figure 7 FIG. 1 is a flow chart showing a light projection method according to an embodiment of the present application. Figure 7 As shown, the light projection method is applied to a light projection device, and the method includes:

[0147] Step S701: Acquire environmental information and state information of a first object, where the first object includes at least one of a vehicle and a pedestrian, and the state information of the first object includes at least one of position information and motion information of the first object;

[0148] Step S702: determining, based on the state information, that the first object is a potentially dangerous object;

[0149] Step S703: determining a potential danger area of ​​the first object;

[0150] Step S704: determining a to-be-projected area based on the potential danger area and the environmental information, wherein the to-be-projected area is an area where light projection does not exist but is allowed;

[0151] Step S705, determining whether the area to be projected is within the projection range of the light projection device;

[0152] Step S706 : When the area to be projected is within the projection range of the light projection device, light projection is performed in the area to be projected to prompt a potential danger caused by the first object.

[0153] In a possible implementation, the method further includes: when the area to be projected is not within the projection range of the light projection device, sending information that the first object is a potentially dangerous object and the area to be projected to other devices.

[0154] In one possible implementation, the first object is a plurality of objects, and the method further includes: determining a projection order of the plurality of objects based on a potential danger level of each object among the plurality of objects; and performing light projection in the area to be projected includes: performing a plurality of light projections corresponding one-to-one to the plurality of objects in sequence according to the projection order.

[0155] In one possible implementation, the method further includes: generating a projection image and lighting control information; the performing light projection in the area to be projected includes: performing light projection in the area to be projected according to the projection image and the lighting control information; wherein the projection image is determined based on the environmental information and the potential danger caused by the first object, the lighting control information is determined based on the environmental information, the projection image and the area to be projected, and the lighting control information includes at least one of the angle, brightness or color of the light.

[0156] In a possible implementation manner, the method further includes: determining a potential dangerous scenario of the first object.

[0157] In a possible implementation, the method further includes: determining a potential danger level of the first object according to at least one of the potential danger area or the potential danger scene.

[0158] In one possible implementation, determining that the first object is a potentially dangerous object based on the status information includes: predicting a motion trajectory of the first object within a preset time period in the future based on the status information; and determining that the first object is a potentially dangerous object based on the motion trajectory.

[0159] In one possible implementation, the future preset time period includes multiple future moments, and the motion trajectory of the first object within the future preset time period includes the position areas of the first object at the multiple future moments. Determining the first object as a potentially dangerous object based on the motion trajectory includes: for an object among the first objects that is a vehicle, at any future moment within the future preset time period, judging whether the position area of ​​the object at the future moment overlaps with the position areas of other objects among the first objects other than the object at the future moment; if there is overlap in the position areas, determining that the object and other objects that overlap with the position area of ​​the object are potentially dangerous objects.

[0160] In a possible implementation, the light projection device is applied to a vehicle or roadside infrastructure.

[0161] An embodiment of the present application provides a light projection device, comprising: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to implement the above method when executing the instructions.

[0162] An embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions implement the above method when executed by a processor.

[0163] An embodiment of the present application provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

[0164] A computer-readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof.

[0165] The computer-readable program instructions or codes described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0166] The computer program instructions for performing the operations of the present application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, by utilizing the state information of computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions, thereby implementing various aspects of the present application.

[0167] Various aspects of the present application are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0168] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0169] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0170] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, systems, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a part for a module, program segment or instruction, and the part for the module, program segment or instruction comprises one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous boxes can actually be performed substantially in parallel, and they can sometimes also be performed in the opposite order, depending on the function involved.

[0171] It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by hardware that performs the corresponding function or action (such as a circuit or ASIC (Application Specific Integrated Circuit)), or can be implemented by a combination of hardware and software, such as firmware.

[0172] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art can understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0173] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A light projection device, characterized in that: The device includes an information acquisition module, a processing module and a projection module, wherein the processing module is connected to the information acquisition module and the projection module respectively. The information acquisition module is used to: Acquire environmental information and state information of a first object, where the first object includes at least one of a vehicle or a pedestrian, and the state information of the first object includes at least one of position information or motion information of the first object; The processing module is used to: determining, based on the state information, that the first object is a potentially dangerous object; Determining a potential danger area of ​​the first object; the potential danger area is determined based on a motion trajectory of the first object; Determine a to-be-projected area according to the potential danger area and the environmental information, where the to-be-projected area is an area where light projection does not exist and light projection is allowed; Determining whether the area to be projected is within the projection range of the projection module; The projection module is used to: In response to a first result determined by the processing module, light projection is performed in the area to be projected to prompt a potential danger caused by the first object, wherein the first result is that the area to be projected is within the projection range of the projection module.

2. The device according to claim 1, characterized in that The device further includes a sending module, configured to: In response to a second result determined by the processing module, information that the first object is a potentially dangerous object and the area to be projected are sent to other devices, wherein the second result is that the area to be projected is not within the projection range of the projection module.

3. The device according to claim 1 or 2, characterized in that: The first object is a plurality of objects; The processing module is further configured to determine a projection order of the plurality of objects according to a potential danger level of each object in the plurality of objects; The projection module is used to project light in the area to be projected, and includes: The projection module is used to sequentially perform a plurality of light projections corresponding to the plurality of objects in a one-to-one manner according to the projection order.

4. The device according to any one of claims 1 to 3, characterized in that: The processing module is also used to generate projection images and lighting control information; The projection module is used to project light in the area to be projected, and includes: The projection module is used to perform light projection in the to-be-projected area according to the projection image and the light control information; The projection image is determined based on the environmental information and the potential danger caused by the first object, the lighting control information is determined based on the environmental information, the projection image and the area to be projected, and the lighting control information includes at least one of the angle, brightness or color of the light.

5. The device according to any one of claims 1 to 4, characterized in that: The processing module is further configured to determine a potential dangerous scenario of the first object.

6. The device according to any one of claims 1 to 5, characterized in that The light projection device is applied to a vehicle or roadside infrastructure.

7. A light projection method, characterized in that: The method comprises: Acquire environmental information and state information of a first object, where the first object includes at least one of a vehicle or a pedestrian, and the state information of the first object includes at least one of position information or motion information of the first object; determining, based on the state information, that the first object is a potentially dangerous object; Determining a potential danger area of ​​the first object; the potential danger area is determined based on a motion trajectory of the first object; Determine a to-be-projected area according to the potential danger area and the environmental information, where the to-be-projected area is an area where light projection does not exist and light projection is allowed; Determining whether the area to be projected is within the projection range of the light projection device; In a case where the area to be projected is within the projection range of the light projection device, light projection is performed in the area to be projected to prompt a potential danger caused by the first object.

8. The method according to claim 7, characterized in that The method further comprises: When the area to be projected is not within the projection range of the light projection device, information that the first object is a potentially dangerous object and the area to be projected are sent to other devices.

9. The method according to claim 7 or 8, characterized in that: The first object is a plurality of objects, The method further comprises: determining a projection order of the plurality of objects according to a potential danger level of each object in the plurality of objects; The performing of light projection in the area to be projected includes: A plurality of light projections corresponding to the plurality of objects are sequentially performed according to the projection order.

10. The method according to any one of claims 7 to 9, characterized in that: The method further comprises: Generate projection images and lighting control information; The performing of light projection in the area to be projected includes: Performing light projection in the to-be-projected area according to the projection image and the light control information; The projection image is determined based on the environmental information and the potential danger caused by the first object, the lighting control information is determined based on the environmental information, the projection image and the area to be projected, and the lighting control information includes at least one of the angle, brightness or color of the light.

11. The method according to any one of claims 7 to 10, characterized in that: The method further comprises: A potential dangerous scenario for the first object is determined.

12. The method according to any one of claims 7 to 11, characterized in that The light projection device is applied to a vehicle or roadside infrastructure.

13. A light projection device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method according to any one of claims 7 to 12 when executing the instructions.

14. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 7 to 12 is implemented.

Images