Vehicle joint projection method and device, vehicle, terminal, storage medium and system

Abstract

The present application relates to the field of projection technology, and discloses a vehicle joint projection method, device, vehicle, terminal, medium and system, the method comprises: sending or receiving team request information, and forming a vehicle team according to the team request information and other vehicles;Wherein, the vehicle team includes N vehicles, N is a positive integer greater than 1;The preconfigured projection material is sent to the data processing terminal, so that the data processing terminal carries out segmentation processing on the projection material, obtains N projection material fragments, and sends N projection material fragments to N vehicles respectively;Receive the projection material fragments, and project according to the received projection material fragments.This method can realize joint projection of multiple vehicles.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of projection technology, in particular to a vehicle joint projection method, device, vehicle, data processing terminal, computer readable storage medium and system. BACKGROUND

[0002] With the continuous improvement of people's living standards, the configuration demand for vehicles is also getting higher and higher, and the vehicle is not only a means of transportation, but also a recreational and entertainment device when going out. In the process of using the vehicle, people not only have the demand of playing audio through the vehicle, but also have the demand of playing pictures and videos through the vehicle, for example, watching a movie or a video when resting in the car. Therefore, how to project through the vehicle becomes a problem to be solved.

[0003] At present, the vehicle can project simple images through the DLP (Digital Light Processing) headlamp, such as projecting images on the surface of a building. However, the projection area of the DLP headlamp is limited when projecting, which leads to the inability to project large size images, and cannot meet the user's demand. SUMMARY

[0004] The present application provides a vehicle joint projection method, device, vehicle, data processing terminal, computer readable storage medium and system, which can realize joint projection of the vehicle.

[0005] In a first aspect, the present application provides a vehicle joint projection method, which is executed by a vehicle, comprising:

[0006] Sending or receiving a team formation request information, and forming a vehicle team with other vehicles according to the team formation request information; wherein the vehicle team includes N vehicles, and N is a positive integer greater than 1;

[0007] Sending a pre-configured projection material to a data processing terminal, so that the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and sends the N projection material fragments to N vehicles respectively;

[0008] Receiving the projection material fragments, and projecting according to the received projection material fragments.

[0009] Preferably, the method further comprises:

[0010] Obtaining position information of the vehicle and region data that can be projected by the headlamp of the vehicle;

[0011] The position information and the area data are sent to a data processing terminal, so that the data processing terminal judges the joint projection feasibility according to the received projection material, the position information and the area data sent by each vehicle in the vehicle group, and when judging that the joint projection is feasible, the projection material is segmented.

[0012] Preferably, the method further comprises:

[0013] When receiving the prompt information, the vehicle position is adjusted according to the prompt information; wherein the prompt information is generated and sent to each vehicle in the vehicle group by the data processing terminal when judging that the joint projection is not feasible;

[0014] After the vehicle position is adjusted, the adjusted position information and the area data are obtained;

[0015] The adjusted position information and the area data are sent to the data processing terminal, so that the data processing terminal judges the joint projection feasibility again according to the projection material, the adjusted position information and the area data sent by each vehicle in the vehicle group, until judging that the joint projection is feasible.

[0016] Preferably, the sending or receiving group request information and grouping with other vehicles according to the group request information comprise:

[0017] The group request information is sent to other vehicles, and the vehicle group is formed with other vehicles according to the group request information; or the group request information sent by the captain vehicle is received, and the vehicle group is formed with the captain vehicle according to the group request information; wherein one captain vehicle is arranged in the N vehicles.

[0018] In the second aspect, the embodiment of the present application provides a vehicle joint projection device, the device is arranged in a vehicle, comprising:

[0019] The group module is used for sending or receiving group request information, and grouping with other vehicles according to the group request information; wherein the vehicle group comprises N vehicles, and N is a positive integer greater than 1.

[0020] The first sending module is used for sending the pre-configured projection material to the data processing terminal, so that the data processing terminal segments the projection material to obtain N projection material fragments, and the N projection material fragments are sent to the N vehicles respectively.

[0021] The projection module is used for receiving the projection material fragments, and projecting according to the received projection material fragments.

[0022] In a third aspect, an embodiment of the present application provides a vehicle, comprising a vehicle body, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the computer program is executed by the processor to implement the vehicle joint projection method according to any one of the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides a vehicle joint projection method, executed by a data processing terminal, comprising:

[0024] receiving projection materials sent by vehicles in a vehicle fleet; wherein the vehicle fleet comprises N vehicles, and N is a positive integer greater than 1;

[0025] segmenting the projection materials to obtain N projection material fragments;

[0026] sending the N projection material fragments to the N vehicles respectively, so that the vehicles project according to the received projection material fragments.

[0027] Preferably, the method further comprises:

[0028] receiving vehicle position information and region data of a vehicle light that can be projected sent by each vehicle in the vehicle fleet;

[0029] judging joint projection feasibility according to the received projection materials, position information, and region data, and segmenting the projection materials when judging that joint projection is feasible.

[0030] Preferably, the method further comprises:

[0031] when judging that joint projection is not feasible, generating prompt information and sending the prompt information to each vehicle in the vehicle fleet, so that each vehicle in the vehicle fleet adjusts the vehicle position according to the prompt information, and after the vehicle position adjustment is completed, obtaining adjusted position information and region data, and sending the adjusted position information and region data to the data processing terminal;

[0032] receiving the adjusted position information and region data sent by each vehicle in the vehicle fleet, and judging joint projection feasibility again according to the projection materials and the adjusted position information and region data sent by each vehicle in the vehicle fleet, until judging that joint projection is feasible.

[0033] Preferably, the judging joint projection feasibility according to the received projection materials, position information, and region data comprises:

[0034] When N is less than the preset number or N is odd, according to the position information and the area data, a minimum distance between a front-end vehicle projection area and a tail-end vehicle projection area in a horizontal direction, a maximum width of the joint projection area in the horizontal direction, and a maximum height of the joint projection area in a vertical direction are calculated;

[0035] When the following condition is met, horizontal position projection is determined to be feasible;

[0036] When the following condition is met, and H max > 0, vertical position projection is determined to be feasible;

[0037] wherein H max is the maximum height of the joint projection area in the vertical direction, W max is the maximum width of the joint projection area in the horizontal direction, d is the minimum distance between the front-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction, W S is the width of the projection material, and H S is the height of the projection material;

[0038] When horizontal position projection is determined to be feasible and vertical position projection is determined to be feasible, joint projection is determined to be feasible.

[0039] Preferably, the method further comprises:

[0040] When N is greater than or equal to the preset number and is even, it is determined whether any four adjacent projection areas meet the condition of adjacent intersection and at least one projection area intersects with the other three projection areas;

[0041] If yes, joint projection is determined to be feasible;

[0042] If no, according to the position information and the area data, a minimum distance between a front-end vehicle projection area and a tail-end vehicle projection area in a horizontal direction, a maximum width of the joint projection area in the horizontal direction, and a maximum height of the joint projection area in a vertical direction are calculated;

[0043] When the following condition is met, horizontal position projection is determined to be feasible;

[0044] When the following condition is met, and H max > 0, vertical position projection is determined to be feasible;

[0045] wherein H max is the maximum height of the joint projection area in the vertical direction, W max is the maximum width of the joint projection area in the horizontal direction, d is the minimum distance between the front-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction, W SH is the width of the projection material S H is the height of the projection material

[0046] When it is determined that horizontal position projection is feasible and vertical position projection is feasible, it is determined that joint projection is feasible.

[0047] Preferably, after the above-mentioned when it is determined that horizontal position projection is feasible and vertical position projection is feasible, it is determined that joint projection is feasible, the above-mentioned splitting the projection material to obtain N projection material fragments comprises:

[0048] A two-dimensional coordinate system is established with the first vertex of the head-end vehicle projection region as the origin, and the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to the projection material in the two-dimensional coordinate system are obtained.

[0049] According to the position information and the region data, the midpoint of the horizontal coordinates of the intersection points of every two adjacent vehicle projection regions is calculated, and N-1 midpoint horizontal coordinates are obtained.

[0050] According to the N-1 midpoint horizontal coordinates, the minimum horizontal coordinate of the projection material and the maximum horizontal coordinate of the projection material, the projection material is split to obtain N projection material fragments.

[0051] Preferably, after the above-mentioned if so, it is determined that joint projection is feasible, the above-mentioned splitting the projection material to obtain N projection material fragments comprises:

[0052] A two-dimensional coordinate system is established with the first vertex of the head-end vehicle projection region as the origin, and the horizontal coordinates and the vertical coordinates of the intersection overlapping regions in any four adjacent projection regions are obtained according to the position information and the region data.

[0053] According to the number of overlaps, the intersection overlapping regions are divided into two intersection overlapping regions and multiple intersection overlapping regions; wherein the number of overlaps is the number of projection vehicles in the intersection overlapping regions.

[0054] According to the horizontal coordinates and the vertical coordinates of the intersection overlapping regions, the midpoint coordinates of each of the two intersection overlapping regions are obtained.

[0055] According to the midpoint coordinates of each of the two intersection overlapping regions, each of the two intersection overlapping regions is evenly cut.

[0056] In a clockwise order, multiple intersection region determinations are sequentially performed, and when it is determined that the multiple intersection overlapping regions are contained in the vehicle projection region, the multiple intersection overlapping regions are divided into the projection region of the corresponding vehicle; wherein each of the multiple intersection overlapping regions is only divided into the projection region of one vehicle.

[0057] According to the equal division and the plurality of intersection regions, a final projection region of each vehicle is obtained;

[0058] According to the equal division and the plurality of intersection regions, a final projection region of each vehicle is obtained;

[0059] In the fifth aspect, an embodiment of the present application provides a vehicle joint projection device, the device is arranged in a data processing terminal, and the device comprises:

[0060] A first receiving module is configured to receive projection materials sent by vehicles in a vehicle fleet, wherein the vehicle fleet comprises N vehicles, and N is a positive integer greater than 1;

[0061] A material division module is configured to perform division processing on the projection materials to obtain N projection material fragments.

[0062] A second sending module is configured to send the N projection material fragments to the N vehicles respectively, so that the vehicles perform projection according to the received projection material fragments.

[0063] In the sixth aspect, an embodiment of the present application provides a data processing terminal, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle joint projection method according to any one of the fourth aspect when the computer program is executed.

[0064] In the seventh aspect, an embodiment of the present application provides a computer readable storage medium, which comprises a stored computer program, and when the computer program is executed, the computer readable storage medium controls a device where the computer readable storage medium is arranged to execute the vehicle joint projection method according to any one of the first aspect or the fourth aspect.

[0065] In the eighth aspect, an embodiment of the present application provides a vehicle joint projection system, which comprises a data processing terminal and N vehicles, N is a positive integer greater than 1, the vehicles are in communication connection with the data processing terminal, the vehicles are configured to execute the vehicle joint projection method according to any one of the first aspect, and the data processing terminal is configured to execute the vehicle joint projection method according to any one of the fourth aspect.

[0066] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0067] The vehicle joint projection method, device, vehicle, data processing terminal, computer readable storage medium and system provided by the embodiment of the present application can realize the effect of multiple vehicle cooperation projection, and can greatly meet the diversified needs of users. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 is a flow diagram of one preferred embodiment of the vehicle joint projection method provided by the present application;

[0069] Figure 2 is a schematic diagram of horizontal joint projection of the vehicle team in the embodiment of the present application;

[0070] Figure 3 is a schematic diagram of multi-dimensional joint projection of the vehicle team in the embodiment of the present application;

[0071] Figure 4 is a structural schematic diagram of one preferred embodiment of the vehicle joint projection device provided by the present application;

[0072] Figure 5 is a flow diagram of another preferred embodiment of the vehicle joint projection method provided by the present application;

[0073] Figure 6 is a structural schematic diagram of another preferred embodiment of the vehicle joint projection device provided by the present application;

[0074] Figure 7 is a schematic diagram of one preferred embodiment of the vehicle joint projection system provided by the present application. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0076] With reference to Figure 1 The vehicle joint projection method provided by the embodiment of the present application is executed by a vehicle, and includes the following steps S11 to S13.

[0077] S11, sending or receiving team formation request information to other vehicles, and forming a vehicle team with the other vehicles according to the team formation request information; wherein the vehicle team includes N vehicles, and N is a positive integer greater than 1.

[0078] S12, sending the pre-configured projection material to the data processing terminal, so that the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and sends the N projection material fragments to N vehicles respectively;

[0079] S13, receiving the projection material fragments and projecting according to the received projection material fragments.

[0080] In step S11, the team formation request information includes team formation invitation information, digital pairing information, etc. In a specific implementation, the vehicle can send team formation request information to other vehicles to form a vehicle team according to the team formation request information; or receive the team formation request information sent by the team leader vehicle to form a vehicle team according to the team formation request information; wherein one of the N vehicles is a team leader vehicle.

[0081] In this embodiment, the vehicle sending the team formation request information is generally the team leader vehicle. Correspondingly, when the vehicle is the team leader vehicle, the vehicle sends the team formation request information to N-1 other vehicles to form a vehicle team including N vehicles according to the team formation invitation information, digital pairing information, etc. in the team formation request information; when the vehicle is not the team leader vehicle, the vehicle receives the team formation request information sent by the team leader vehicle to form a vehicle team according to the team formation invitation information, digital pairing information, etc. in the team formation request information.

[0082] It should be noted that any one of the N vehicles in the vehicle team can be set as the team leader vehicle, and the team leader vehicle can be set according to actual needs, and after forming the vehicle team, the team leader vehicle can also transfer the team leader identity to any other vehicle in the vehicle team, which is not limited by the embodiment of the present application.

[0083] In step S12, the vehicle sends the pre-configured projection material to the data processing terminal. The projection material is pre-configured by the vehicles in the vehicle team, for example, each vehicle in the vehicle team can upload the original projection material to the team leader vehicle, and the team leader vehicle selects the projection material from all the original projection materials. After the projection material is configured, any vehicle sends the projection material to the data processing terminal, which is not limited by the present application. The data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and sends the N projection material fragments to N vehicles respectively. It should be noted that when sending the projection material fragments, the projection material fragments can be distributed according to the position information of the vehicles, and the projection material fragments correspond to the vehicles one by one, so as to ensure that the vehicles receive the projection material fragments belonging to their own projection area.

[0084] In step S13, the host vehicle receives the projection material fragments sent by the data processing terminal, and projects through the DLP headlamp according to the received projection material fragments. In this embodiment, the projection of the host vehicle can be spliced with the projection of other vehicles in the vehicle fleet, and finally form a complete projection of the projection material. In other embodiments, the projection of the N vehicles can also be linked, for example, multiple projections form an image or a light flashing transformation effect. The final joint projection effect is various and can be set by the user, and the present application does not limit this.

[0085] Further, the method further comprises:

[0086] obtaining position information of the host vehicle and region data of the projection area of the headlamp of the host vehicle;

[0087] sending the position information and the region data to the data processing terminal, so that the data processing terminal judges the joint projection feasibility according to the received projection material, the position information and the region data sent by each vehicle in the vehicle fleet, and when judging that the joint projection is feasible, performing segmentation processing on the projection material.

[0088] In this embodiment, the host vehicle can obtain its own position information and region data of the projection area of the headlamp. For example, the vehicle is configured with a high-precision positioning module supporting RTK (Real-time kinematic, real-time dynamic measurement), which can achieve centimeter-level error. The high-precision positioning module can obtain the position information of the host vehicle. The vehicle is configured with a DLP headlamp, which can project. At the same time, the vehicle is also configured with a camera, which collects the region data of the projection area of the headlamp according to the motion imaging technology. The data processing terminal can simulate the projection area of the vehicle in the vehicle fleet and the intersection state of the projection area of each vehicle according to the region data of the projection area of the headlamp. The size of the projection area of the headlamp depends on the model of the DLP headlamp, for example, the size of the projection area is 1m*1m. Of course, in other embodiments, the DLP lamp can also be installed at other positions on the vehicle, and the present application does not limit this.

[0089] It should be noted that the data processing terminal judges the joint projection feasibility before performing material segmentation. Only when it is judged that the joint projection is feasible, the data processing terminal segments the projection material, so as to ensure the joint projection effect. Of course, before sending the projection material, the vehicle fleet can also judge the joint projection feasibility according to the joint projection area formed, so as to select the projection material suitable for the joint projection area. For example, the projection material with the same shape as the joint projection area is selected.

[0090] In one embodiment, the joint projection feasibility judgment comprises the following steps S21-S24:

[0091] S21, when N is less than the preset number or N is odd, calculating, according to the position information and the area data, a minimum distance between a front-end vehicle projection area and a tail-end vehicle projection area in a horizontal direction, a maximum width of a joint projection area in the horizontal direction, and a maximum height of the joint projection area in a vertical direction;

[0092] S22, when , it is determined that horizontal position projection is feasible;

[0093] S23, when and H max > 0, it is determined that vertical position projection is feasible;

[0094] wherein H max is the maximum height of the joint projection area in the vertical direction, W max is the maximum width of the joint projection area in the horizontal direction, d is the minimum distance between the front-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction, W S is a width of the projection material, and H S is a height of the projection material;

[0095] S24, when it is determined that horizontal position projection is feasible and it is determined that vertical position projection is feasible, it is determined that joint projection is feasible.

[0096] Correspondingly, after the step of determining that joint projection is feasible when it is determined that horizontal position projection is feasible and it is determined that vertical position projection is feasible, the projection material is subjected to horizontal segmentation processing, including the following steps S31 to S33:

[0097] S31, a two-dimensional coordinate system is established with a first vertex of the front-end vehicle projection area as an origin, to obtain a minimum horizontal coordinate and a maximum horizontal coordinate of the projection material in the two-dimensional coordinate system;

[0098] S32, according to the position information and the area data, a midpoint of the intersection horizontal coordinates of every two adjacent vehicle projection areas is calculated, to obtain N-1 midpoint horizontal coordinates;

[0099] S33, according to the N-1 midpoint horizontal coordinates, the minimum horizontal coordinate of the projection material, and the maximum horizontal coordinate of the projection material, the projection material is subjected to segmentation processing, to obtain N projection material fragments.

[0100] The preset number is a vehicle value that satisfies multi-dimensional joint projection of the vehicle. In this embodiment, the preset number is 4. In other embodiments, the user can preset the number according to his own needs, for example, the preset number is set to 6, 8, etc.

[0101] It should be noted that in a specific projection scenario, a projection plane needs to be selected as the projection plane for the joint projection of the vehicle fleet, for example, a white building outer wall. After determining the specific projection plane, in order to avoid the projection of one vehicle being blocked by other vehicles, the vehicles in the vehicle fleet are roughly arranged in a straight line, and all are arranged on the same side of the projection plane, at this time, the vehicle fleet has a head vehicle and a tail vehicle.

[0102] For the sake of understanding, the following will be described in combination with Figure 2 The above steps S21 to S24, steps S31 to S33 are described.

[0103] Referring to Figure 2 , according to the position information and the area data, it can be judged that the first vehicle is the head vehicle and the third vehicle is the tail vehicle. A two-dimensional coordinate system is established with the first vertex of the first vehicle projection area, i.e. the top left corner vertex as the origin, and N is taken as 3 as an example for description, at this time, the vehicle fleet performs horizontal joint projection.

[0104] In step S21, according to the position information and the area data, the minimum distance between the head vehicle projection area and the tail vehicle projection area in the horizontal direction, the maximum width of the joint projection area in the horizontal direction, and the maximum height of the joint projection area in the vertical direction are calculated. Specifically, the longitudinal coordinates of the top left corner vertices of the projection areas of the three vehicles are 0, Y1, Y3 respectively, the longitudinal coordinates of the bottom right corner vertices of the projection areas of the three vehicles are Y2, Y4, Y5 respectively, and the maximum height H max of the joint projection area in the vertical direction is calculated as follows:

[0105] H max = Min(Y2, Y4, Y5) - Max(0, Y1, Y3)

[0106] The minimum distance d between the head vehicle projection area and the tail vehicle projection area in the horizontal direction is calculated as follows:

[0107] d = X3 - X2

[0108] Wherein, X2 is the horizontal coordinate of the bottom right corner vertex of the head vehicle projection area, and X3 is the horizontal coordinate of the top left corner vertex of the tail vehicle projection area.

[0109] The maximum width W max of the joint projection area in the horizontal direction is calculated as follows:

[0110] W max = Max(X n ) - 0

[0111] In steps S22 and S23, according to the data obtained in step S21, when When the horizontal position projection is feasible, and the vertical position projection is feasible, it is determined that the joint projection is feasible; when the horizontal position projection is not feasible or the vertical position projection is not feasible, it is determined that the joint projection is not feasible. and H max >0, it is determined that the vertical position projection is feasible. It should be noted that the order of steps S22 and S23 can be interchanged.

[0112] When the horizontal position projection is feasible and the vertical position projection is feasible, it is determined that the joint projection is feasible; when the horizontal position projection is not feasible or the vertical position projection is not feasible, it is determined that the joint projection is not feasible. When performing horizontal joint projection, only when the horizontal position projection is feasible and the vertical position projection is feasible, the projection material can be enlarged or reduced in the projection area at a constant ratio, so as to avoid deformation or distortion of the projection material, and ensure the projection effect.

[0113] In step S31, with reference to Figure 2 , a two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle as the origin, and the minimum horizontal coordinate X f and the maximum horizontal coordinate X e of the projection material are obtained according to the mapping of the width and height of the projection material in the coordinate system.

[0114] In step S32, according to the position information and the area data, the projection area of each vehicle is mapped in the coordinate system, and the midpoint of the intersection horizontal coordinates of the projection areas of every two adjacent vehicles is calculated.

[0115] wherein X1 and X2 are the two intersection horizontal coordinates of the projection area of the first vehicle and the projection area of the second vehicle, and X3 and X4 are the two intersection horizontal coordinates of the projection area of the second vehicle and the projection area of the third vehicle. Further, two midpoint horizontal coordinates X m1 and X m2 are obtained, X m1 is the midpoint of the intersection horizontal coordinates X1 and X2, and X m2 is the midpoint of the intersection horizontal coordinates X3 and X4.

[0116] In step S33, with reference to Figure 2 , the minimum horizontal coordinate of the projection material is X f , the maximum horizontal coordinate of the projection material is X e , and the projection material is divided into three projection material fragments with X f , X m1 , X m2 , and X e as the division points. The horizontal coordinate regions of the three projection material fragments are X f X m1 , X m1 X m2 , and X m2 X e .

[0117] Furthermore, based on the location information, the data processing terminal defines the x-coordinate region as X. f X m1 The projected material fragments were sent to the first vehicle, with the horizontal coordinate area being X. m1 X m2 The projected material fragments were sent to the second vehicle, with the horizontal coordinate region being X. m2 X e The projection material fragments were sent to the third vehicle.

[0118] It should be noted that, Figure 2 The shaded area, with the vertical axis ranging from Y1 to Y2 and the horizontal axis ranging from 0 to X5, represents the maximum area that can be projected when the convoy performs a horizontal joint projection. To achieve a better display effect, when the projected material is scaled down or enlarged proportionally, the projected material should not extend beyond the shaded area.

[0119] Furthermore, depending on the different projection materials, the data processing terminal can further segment the already segmented projection material fragments. For example, when performing a horizontal joint projection, for the x-coordinate region X... f X m1 The projected material fragments can be identified, and their specific content can be further divided evenly or irregularly based on the specific content. At this point, all fragments divided from the projected material fragments need to be sent to the first vehicle for projection.

[0120] In another embodiment, the feasibility assessment of joint projection includes the following steps S41 to S43:

[0121] S41, when N is greater than or equal to the preset number and is even, determine whether any 4 adjacent projection regions satisfy the condition of being adjacent and intersecting and at least one projection region intersecting with the other three projection regions.

[0122] S42, if so, then the joint projection is deemed feasible;

[0123] S43, if not, calculate the minimum horizontal distance between the projection areas of the first and last vehicles, the maximum horizontal width of the combined projection area, and the maximum vertical height of the combined projection area based on the location information and the area data.

[0124] When satisfied At that time, it was determined that the horizontal position projection was feasible;

[0125] When satisfied And H max When the value is greater than 0, the vertical position projection is deemed feasible.

[0126] Among them, H maxW is the maximum height of the joint projection region in the vertical direction max W is the maximum width of the joint projection region in the horizontal direction, d is the minimum distance between the projection region of the front-end vehicle and the projection region of the tail-end vehicle in the horizontal direction, W S W is the width of the projection material, H S H is the height of the projection material;

[0127] When it is determined that the horizontal position projection is feasible and the vertical position projection is feasible, it is determined that the joint projection is feasible.

[0128] Correspondingly, after the if is, it is determined that the joint projection is feasible, the projection material is subjected to multi-dimensional segmentation processing, including the following steps S51 to S57:

[0129] S51, a two-dimensional coordinate system is established with the first vertex of the projection region of the front-end vehicle as the origin, and the horizontal coordinates and the vertical coordinates of the intersection overlapping region in any four adjacent projection regions are obtained according to the position information and the region data;

[0130] S52, the intersection overlapping region is divided into two intersection overlapping regions and a plurality of intersection overlapping regions according to the number of overlaps; wherein the number of overlaps is the number of projection vehicles in the intersection overlapping region;

[0131] S53, the midpoint coordinates of each of the two intersection overlapping regions are obtained according to the horizontal coordinates and the vertical coordinates of the intersection overlapping region;

[0132] S54, each of the two intersection overlapping regions is evenly cut according to the midpoint coordinates of each of the two intersection overlapping regions;

[0133] S55, the plurality of intersection regions are sequentially judged in a clockwise order, and when it is determined that the plurality of intersection overlapping regions are contained in the vehicle projection region, the plurality of intersection overlapping regions are divided into the projection region of the corresponding vehicle; wherein each of the plurality of intersection overlapping regions is only divided into the projection region of one vehicle;

[0134] S56, the final projection region of each vehicle is obtained according to the even cutting and the plurality of intersection region judgments;

[0135] S57, the projection material is cut in proportion according to the final projection region of each vehicle to obtain N projection material fragments.

[0136] In order to facilitate understanding, the following will be combined with Figure 3 The above steps S41 to S43 and steps S51 to S57 are described.

[0137] Reference is made to Figure 3According to the position information and the area data, it can be judged that the first vehicle is the leading vehicle. A two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle as the origin. Taking N equal to 4 as an example, the multi-dimensional joint projection of the vehicle group is performed.

[0138] In step S41, it is necessary to judge whether any four adjacent projection areas satisfy the conditions of adjacent intersection and at least one projection area intersecting with the other three projection areas. In the specific implementation, whether two projection areas intersect can be judged by coordinates. For example, the horizontal coordinate of the upper right vertex of the projection area of the first vehicle is X3, and the horizontal coordinate of the upper left vertex of the projection area of the third vehicle is X2. When X3 is greater than X2, it can be determined that the projection area of the first vehicle intersects with the projection area of the third vehicle.

[0139] In step S41, it is necessary to judge whether any four adjacent projection areas satisfy the conditions of adjacent intersection and at least one projection area intersecting with the other three projection areas. In the specific implementation, whether two projection areas intersect can be judged by coordinates. For example, the horizontal coordinate of the upper right vertex of the projection area of the first vehicle is X3, and the horizontal coordinate of the upper left vertex of the projection area of the third vehicle is X2. When X3 is greater than X2, it can be determined that the projection area of the first vehicle intersects with the projection area of the third vehicle. Figure 3 It should be noted that, due to the limited projection height of the vehicle DLP headlamp, when N is less than 4 or N is an odd number, only horizontal joint projection can be performed, which is not suitable for multi-dimensional joint projection. When N is greater than or equal to 4 and is an even number, multi-dimensional joint projection can be performed, and horizontal joint projection can also be performed. In step S43, if the multi-dimensional joint projection condition is not satisfied, horizontal joint projection is performed. The method of horizontal joint projection is the same as steps S21 to S24, which will not be described here.

[0140] In step S51, referring to

[0141] A two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle as the origin, and the horizontal coordinates and vertical coordinates of the intersecting and overlapping areas in any four adjacent projection areas are obtained according to the position information and the area data. For example, X2 and X2 are the horizontal coordinates of the two intersection points of the projection area of the first vehicle and the projection area of the third vehicle. Figure 3 In step S52, the intersecting and overlapping areas are divided into two intersecting and overlapping areas and multiple intersecting and overlapping areas according to the number of overlaps. The number of overlaps is the number of projection vehicles in the intersecting and overlapping area, which needs to be judged by coordinates. Specifically, multiple means three or four, and areas B and C have three projection vehicles overlapping, so areas B and C are divided into multiple intersecting and overlapping areas. Areas A1, A2, A3, A4 and A5 have two projection vehicles overlapping, so areas A1, A2, A3, A4 and A5 are divided into two intersecting and overlapping areas.

[0142] It should be noted that, due to the limited projection height of the vehicle DLP headlamp, when N is less than 4 or N is an odd number, only horizontal joint projection can be performed, which is not suitable for multi-dimensional joint projection. When N is greater than or equal to 4 and is an even number, multi-dimensional joint projection can be performed, and horizontal joint projection can also be performed. In step S43, if the multi-dimensional joint projection condition is not satisfied, horizontal joint projection is performed. The method of horizontal joint projection is the same as steps S21 to S24, which will not be described here.

[0143] In steps S53 and S54, the midpoint coordinates of each two intersecting overlapping regions are obtained according to the horizontal and vertical coordinates of the intersecting overlapping regions, and each two intersecting overlapping regions are equally divided according to the midpoint coordinates.

[0144] For example, for two intersecting overlapping regions A1, the intersecting intersection horizontal coordinates are X2 and X3 respectively, and the midpoint coordinates X of X2 and X3 are calculated. m1 According to the midpoint coordinates X m1 The two intersecting overlapping regions A1 are equally divided, and the cutting line is shown as a dashed line in region A1. The equally divided cutting method of the other two intersecting overlapping regions is the same as that of region A1, which will not be described here.

[0145] In step S55, the multiple intersecting region judgments are sequentially performed in a clockwise order, and when it is determined that the multiple intersecting overlapping regions are contained in one vehicle projection region, the multiple intersecting overlapping regions are divided into the projection region of the corresponding vehicle.

[0146] For example, for multiple intersecting overlapping regions B and C, region B is overlapped by the projection regions of the first vehicle, the third vehicle and the fourth vehicle, and region C is overlapped by the projection regions of the first vehicle, the fourth vehicle and the second vehicle. In a clockwise order, the first vehicle projection region, the third vehicle projection region, the fourth vehicle projection region and the second vehicle projection region are sequentially judged, and it is known that regions B and C are contained in the first vehicle projection region. Regions B and C are divided into the first vehicle projection region. In other embodiments, if region B is not in the first vehicle projection region, the third vehicle projection region is judged in a clockwise order. Of course, in other embodiments, the multiple intersecting overlapping regions can be sequentially judged in a counterclockwise order, which is not limited by the present application.

[0147] It should be noted that each multiple intersecting overlapping region is only divided into the projection region of one vehicle, for example, when region B is divided into the first vehicle projection region, region B is no longer divided to avoid the overlapping of the projection regions of multiple vehicles, thereby ensuring the projection effect.

[0148] In steps S56 and S57, the final projection region of each vehicle is obtained according to the equally divided cutting and the multiple intersecting region judgments, and the projection material is equally cut according to the final projection region of each vehicle to obtain N projection material fragments.

[0149] In specific implementation, when performing multi-dimensional joint projection, the maximum projection region of the vehicle fleet is as shown in Figure 3The center point of the projection material can be corresponded to the center point of the maximum projection region of the vehicle fleet, and then the projection material is divided in proportion to the final projection region of each vehicle.

[0150] Further, the data processing terminal sends the projection material fragments to the vehicles according to the position information. For example, the projection material fragments with the horizontal coordinate region X f X m1 are sent to the first vehicle.

[0151] In the embodiment, the vehicle joint projection method further comprises the following steps S61 to S63:

[0152] S61, when receiving the prompt information, adjusting the position of the vehicle according to the prompt information; wherein the prompt information is generated and sent to each vehicle in the vehicle fleet by the data processing terminal when it is determined that the joint projection is not feasible;

[0153] S62, after the position adjustment of the vehicle is completed, obtaining the adjusted position information and region data;

[0154] S63, sending the adjusted position information and region data to the data processing terminal, so that the data processing terminal re-performs the joint projection feasibility judgment according to the projection material, the adjusted position information and region data sent by each vehicle in the vehicle fleet, until it is determined that the joint projection is feasible.

[0155] In step S61, if N is less than the preset number or N is an odd number, it is determined that the joint projection is not feasible when the horizontal position projection is not feasible or the vertical position projection is not feasible; if N is greater than or equal to the preset number and N is an even number, it is determined that the joint projection is not feasible when it is determined that any four adjacent projection regions do not satisfy the adjacent intersection or do not satisfy that at least one projection region intersects with the other three projection regions, and the horizontal position projection is not feasible or the vertical position projection is not feasible. The specific judgment method has been described in steps S21 to S24 and steps S41 to S43, and will not be described here.

[0156] When it is determined that the joint projection is not feasible, the data processing terminal generates the prompt information and sends it to each vehicle in the vehicle fleet. Exemplarily, the prompt information can be "the joint projection is not feasible, please adjust the position". When the vehicle receives the prompt information containing "the joint projection is not feasible", the position of the vehicle is adjusted. It should be noted that the projection region of the vehicle is visible, and the user can adjust the position of the vehicle according to the size of the projection material and the projection region of the vehicle.

[0157] In step S62, after the vehicle position adjustment is completed, the adjusted position information and the region data are acquired, which is equivalent to performing step S12 again.

[0158] In step S63, the vehicle sends the adjusted position information and the region data to the data processing terminal. The data processing terminal performs joint projection feasibility judgment again according to the projection material, the adjusted position information and the region data sent by each vehicle in the vehicle fleet, until the joint projection feasibility is determined.

[0159] The vehicle joint projection method provided by the embodiment of the present application can realize the projection effect of multiple vehicles cooperating in projection, and can greatly meet the diversified needs of users, by forming a vehicle fleet with multiple vehicles and performing joint projection according to the position information of the vehicles and the region data on which the vehicle lights can project. Meanwhile, the data processing terminal performs joint projection feasibility judgment according to the received projection material, the position information and the region data sent by each vehicle in the vehicle fleet, and when the joint projection feasibility is determined, the projection material is segmented to obtain multiple projection material fragments, so as to realize the segmentation of the projection material, which is beneficial to the joint projection of the vehicles.

[0160] Reference Figure 4 The second embodiment of the present application provides a vehicle joint projection device, which is arranged in a vehicle and includes:

[0161] A team forming module is configured to send or receive team forming request information, and form a vehicle fleet with other vehicles according to the team forming request information. The vehicle fleet includes N vehicles, and N is a positive integer greater than 1.

[0162] A first sending module is configured to send a pre-configured projection material to a data processing terminal, so that the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and sends the N projection material fragments to the N vehicles respectively.

[0163] A projection module is configured to receive the projection material fragments, and project according to the received projection material fragments.

[0164] Further, the device further includes:

[0165] An information acquisition module is configured to acquire position information of the vehicle and region data on which the vehicle light can project.

[0166] A data sending module is configured to send the position information and the region data to a data processing terminal, so that the data processing terminal performs joint projection feasibility judgment according to the received projection material, the position information and the region data sent by each vehicle in the vehicle fleet, and performs segmentation processing on the projection material when the joint projection feasibility is determined.

[0167] Furthermore, the device also includes:

[0168] The position adjustment module is used to adjust the vehicle position according to the prompt information received; wherein the prompt information is generated by the data processing terminal when it determines that joint projection is not feasible and sent to each vehicle in the fleet;

[0169] The location acquisition module is used to acquire the adjusted location information and area data after the vehicle's location has been adjusted.

[0170] The location sending module sends the adjusted location information and area data to the data processing terminal, so that the data processing terminal can re-evaluate the feasibility of joint projection based on the projection material and the adjusted location information and area data sent by each vehicle in the convoy, until joint projection is deemed feasible.

[0171] The vehicle joint projection device provided in this embodiment of the invention enables multiple vehicles to form a convoy and perform joint projection based on the vehicle's position information and the projectable area data of the vehicle lights. This achieves the effect of multiple vehicles coordinating projection, which can greatly meet the diverse needs of users. At the same time, the data processing terminal judges the feasibility of joint projection based on the received projection material, the position information and area data sent by each vehicle in the convoy. When joint projection is determined to be feasible, the projection material is segmented to obtain multiple projection material fragments, thereby realizing the segmentation of the projection material, which is beneficial for vehicles to perform joint projection.

[0172] A third embodiment of the present invention provides a vehicle, including a vehicle body, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, such as a vehicle joint projection program. When the processor executes the computer program, it implements the steps in the various vehicle joint projection method embodiments described above, for example... Figure 1 Step S11 is shown. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above-described device embodiments, such as a projection module. Exemplarily, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the processor.

[0173] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the vehicle body by running or executing the computer program and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0174] Among them, if the integrated module / unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of the above-mentioned various method embodiments when executed by a processor. Among them, the computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form, etc. The computer readable medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electric carrier signals and telecommunication signals.

[0175] It should be noted that the apparatus embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. In addition, the connection relationship between the modules in the apparatus embodiment provided by the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0176] With reference to Figure 5 The fourth embodiment of the present application provides a vehicle joint projection method, which is executed by a data processing terminal and includes the following steps S71 to S73.

[0177] S71, receiving projection materials sent by vehicles in a vehicle group; wherein the vehicle group includes N vehicles, and N is a positive integer greater than 1;

[0178] S72, performing segmentation processing on the projection materials to obtain N projection material fragments;

[0179] S73, sending the N projection material fragments to the N vehicles respectively, so that the vehicles project according to the received projection material fragments.

[0180] In this embodiment, the data processing terminal performs data processing functions, which can be a cloud or a data processing device loaded on a vehicle, and the present application does not limit this.

[0181] In step S71, the projection materials are sent by any vehicle in the vehicle group to the data processing terminal. In specific implementation, the projection materials can be sent by the team leader vehicle in the vehicle group to the data processing terminal. It should be noted that the vehicle sending the team formation request information is generally the team leader vehicle, and any vehicle of the N vehicles forming the vehicle group can be set as the team leader vehicle. The team leader vehicle can be set according to actual needs, and after forming the vehicle group, the team leader vehicle can also transfer the team leader identity to any vehicle in the vehicle group, and the present application does not limit this. In addition, each vehicle in the vehicle group can upload the original projection materials to the team leader vehicle, and the team leader vehicle selects the projection materials from all the original projection materials and sends the projection materials to the data processing terminal.

[0182] In this embodiment, each vehicle in the fleet needs to send its location information and data on the area that its headlights can project to the data processing terminal. For example, the vehicle is equipped with a high-precision positioning module that supports RTK, which can acquire the vehicle's location information. The vehicle is also equipped with DLP headlights, which can project images. Additionally, the vehicle is equipped with a camera that uses motion imaging technology to collect data on the area that the headlights can project.

[0183] Furthermore, the data processing terminal performs a joint projection feasibility assessment based on the received projection material, location information, and area data. The data processing terminal can proportionally simulate the projection areas of vehicles in the convoy and the intersection states of the projection areas of each vehicle based on the projectable area data of the vehicle lights, thereby performing a joint projection feasibility assessment. The specific assessment method has been explained in steps S21 to S24 and steps S41 to S43, and will not be repeated here.

[0184] In step S72, the data processing terminal segments the projection material to obtain N projection material fragments. Specifically, after determining that joint projection is feasible when both horizontal and vertical projection are feasible, the projection material is horizontally segmented, as described in steps S31 to S33. After determining that joint projection is feasible when any four adjacent projection regions are adjacent and intersecting, and at least one projection region intersects with the other three projection regions, the projection material is multi-dimensionally segmented, as described in steps S51 to S57, which will not be repeated here.

[0185] In step S73, the data processing terminal sends N projection material fragments to N vehicles respectively. It should be noted that each projection material fragment corresponds one-to-one with a vehicle, and the data processing terminal needs to send the projection material fragments based on location information. The data processing terminal first numbers the vehicles in the convoy according to their location information, designating them as vehicle 1, vehicle 2, vehicle N, etc. Then, the data processing terminal sends the projection material fragments based on the vehicle numbers and the vehicle's projection area data. For example, in multi-dimensional joint projection, such as... Figure 3 As shown, the x-axis region is X f X m1 The projected material fragments were sent to the first vehicle, with the horizontal coordinate area being X. m1 X e The projection material fragments are sent to the first vehicle; during horizontal joint projection, such as Figure 2 As shown, the x-axis region is X f X m1 The projected material fragments were sent to the first vehicle, with the horizontal coordinate area being X. m1 X m2the projection material fragments are sent to the second vehicle, and the horizontal coordinate region is X m2 X e the projection material fragments are sent to the third vehicle.

[0186] Further, each vehicle in the vehicle group projects according to the received projection material fragments, and the projections of the N vehicles jointly form a complete projection of the projection material or other joint projection effects.

[0187] In this embodiment, the vehicle joint projection method further comprises:

[0188] When it is determined that joint projection is not feasible, a prompt message is generated and sent to each vehicle in the vehicle group, so that each vehicle in the vehicle group adjusts the vehicle position according to the prompt message, and after the vehicle position adjustment is completed, the adjusted position information and region data are obtained and sent to the data processing terminal;

[0189] The adjusted position information and region data sent by each vehicle in the vehicle group are received;

[0190] The feasibility of joint projection is determined again according to the projection material, the adjusted position information and region data sent by each vehicle in the vehicle group, until it is determined that joint projection is feasible.

[0191] In this embodiment, if N is less than 4 or N is an odd number, when horizontal position projection is not feasible or vertical position projection is not feasible, it is determined that joint projection is not feasible; if N is greater than or equal to 4 and N is an even number, when it is determined that any four adjacent projection regions do not satisfy adjacent intersection or do not satisfy that at least one projection region intersects with the other three projection regions, and horizontal position projection is not feasible or vertical position projection is not feasible, it is determined that joint projection is not feasible. The specific determination method is described in steps S21 to S24 and steps S41 to S43, and will not be described here.

[0192] When it is determined that joint projection is not feasible, the data processing terminal generates a prompt message and sends it to each vehicle in the vehicle group. Exemplarily, the prompt message can be "joint projection is not feasible, please adjust the position". When the vehicle receives the prompt message containing "joint projection is not feasible", the vehicle position is adjusted. It should be noted that the vehicle projection region is visible, and the user can adjust the vehicle position according to the size of the projection material and the vehicle projection region. After the vehicle position adjustment is completed, the adjusted position information and region data sent by each vehicle in the vehicle group are sent to the data processing terminal.

[0193] The data processing terminal receives the adjusted position information and the region data sent by each vehicle in the vehicle group.

[0194] The data processing terminal performs joint projection feasibility judgment again according to the projection material, the adjusted position information and the region data sent by each vehicle in the vehicle group, until the joint projection is determined to be feasible.

[0195] The vehicle joint projection method provided by the application can realize the projection effect of multiple vehicles, and can greatly meet the diversified needs of users.

[0196] Reference Figure 6 The fifth embodiment of the application provides a vehicle joint projection device, which is arranged in a data processing terminal and comprises:

[0197] A first receiving module is configured to receive the projection material sent by the vehicles in the vehicle group.

[0198] A material segmentation module is configured to perform segmentation processing on the projection material to obtain N projection material fragments.

[0199] A second sending module is configured to send the N projection material fragments to the N vehicles respectively, so that the vehicles project according to the received projection material fragments.

[0200] Further, the device further comprises:

[0201] A second receiving module is configured to receive the vehicle position information and the region data of the vehicle lamp that can be projected sent by each vehicle in the vehicle group.

[0202] A judgment module is configured to perform joint projection feasibility judgment according to the received projection material, position information and region data, and perform segmentation processing on the projection material when the joint projection is determined to be feasible.

[0203] Further, the device further comprises:

[0204] The prompt information generation module is configured to generate prompt information and send the prompt information to each vehicle in the vehicle fleet when it is determined that the joint projection is not feasible, so that each vehicle in the vehicle fleet adjusts the vehicle position according to the prompt information, and after the vehicle position adjustment is completed, the adjusted position information and the area data are obtained and sent to the data processing terminal;

[0205] The position receiving module is configured to receive the adjusted position information and the area data sent by each vehicle in the vehicle fleet, and perform the joint projection feasibility determination again according to the projection material and the adjusted position information and the area data sent by each vehicle in the vehicle fleet until it is determined that the joint projection is feasible.

[0206] Preferably, the determination module comprises a horizontal joint projection determination module and a multi-dimensional joint projection determination module. The horizontal joint projection determination module comprises:

[0207] The data calculation unit is configured to, when N is less than a preset number or N is an odd number, calculate, according to the position information and the area data, a minimum distance between the head vehicle projection area and the tail vehicle projection area in a horizontal direction, a maximum width of the joint projection area in the horizontal direction, and a maximum height of the joint projection area in a vertical direction.

[0208] The horizontal position determination unit is configured to determine that the horizontal position projection is feasible when .

[0209] The vertical position determination unit is configured to determine that the vertical position projection is feasible when and H max > 0. max H is the maximum height of the joint projection area in the vertical direction, W max is the maximum width of the joint projection area in the horizontal direction, d is the minimum distance between the head vehicle projection area and the tail vehicle projection area in the horizontal direction, W S is the width of the projection material, and H S is the height of the projection material.

[0210] The horizontal joint projection determination unit is configured to determine that the joint projection is feasible when it is determined that the horizontal position projection is feasible and it is determined that the vertical position projection is feasible.

[0211] The multi-dimensional joint projection determination module comprises:

[0212] The multi-dimension joint projection judging unit is configured to, when N is greater than or equal to the preset number and is an even number, judge whether any four adjacent projection regions satisfy adjacent intersection and at least one projection region intersects with the other three projection regions; if yes, it is determined that joint projection is feasible; if no, the horizontal joint projection judging module is executed.

[0213] Preferably, the material segmentation module comprises a horizontal segmentation module and a multi-dimension segmentation module. The horizontal segmentation module is configured to, after it is determined that horizontal position projection is feasible and vertical position projection is feasible, perform horizontal segmentation processing on the projection material. The multi-dimension segmentation module is configured to, after it is determined that any four adjacent projection regions satisfy adjacent intersection and at least one projection region intersects with the other three projection regions, perform multi-dimension segmentation processing on the projection material.

[0214] The horizontal segmentation module comprises:

[0215] The first coordinate system establishing unit is configured to establish a two-dimensional coordinate system with a first vertex of a head-end vehicle projection region as an origin, and obtain a minimum horizontal coordinate and a maximum horizontal coordinate of the projection material in the two-dimensional coordinate system.

[0216] The first midpoint calculating unit is configured to calculate a midpoint of intersection horizontal coordinates of every two adjacent vehicle projection regions according to the position information and the region data, and obtain N-1 midpoint horizontal coordinates.

[0217] The horizontal segmentation unit is configured to perform segmentation processing on the projection material according to N-1 midpoint horizontal coordinates, a minimum horizontal coordinate of the projection material and a maximum horizontal coordinate of the projection material, and obtain N projection material fragments.

[0218] The multi-dimension segmentation module comprises:

[0219] The second coordinate system establishing unit is configured to establish a two-dimensional coordinate system with a first vertex of a head-end vehicle projection region as an origin, and obtain horizontal coordinates and vertical coordinates of intersection overlapping regions in any four adjacent projection regions according to the position information and the region data.

[0220] The overlapping region dividing unit is configured to divide the intersection overlapping regions into two intersection overlapping regions and a plurality of intersection overlapping regions according to an overlapping number, wherein the overlapping number is a number of projection vehicles in the intersection overlapping regions.

[0221] The second midpoint calculating unit is configured to obtain midpoint coordinates of each of the two intersection overlapping regions according to the horizontal coordinates and the vertical coordinates of the intersection overlapping regions.

[0222] The equal division cutting unit is used for equally cutting each of the two intersecting overlapping regions according to the midpoint coordinates of each of the two intersecting overlapping regions.

[0223] The multiple intersecting region judging units are used for sequentially performing multiple intersecting region judgments in a clockwise order, and dividing the multiple intersecting overlapping regions to the projection region of the corresponding vehicle when it is determined that the multiple intersecting overlapping regions are contained in the vehicle projection region; wherein each of the multiple intersecting overlapping regions is only divided to the projection region of one vehicle.

[0224] The final projection region generating unit is used for obtaining the final projection region of each vehicle according to the equal division cutting and the multiple intersecting region judgments.

[0225] The multiple-dimension segmentation unit is used for cutting the projection material according to the final projection region of each vehicle to obtain N projection material fragments.

[0226] The vehicle joint projection device provided by the embodiment of the present application can realize the effect of multiple vehicle cooperation projection by multiple vehicles forming a vehicle group and performing joint projection according to the position information of the vehicles and the region data of the projectable region of the vehicle light, and can greatly meet the diversified needs of users. Meanwhile, the data processing terminal can perform joint projection feasibility judgment according to the received projection material, the position information and the region data of each vehicle in the vehicle group, perform segmentation processing on the projection material to obtain multiple projection material fragments when it is determined that joint projection is feasible, so as to realize the segmentation of the projection material and facilitate joint projection of the vehicles.

[0227] The sixth embodiment of the present application provides a data processing terminal, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, such as a vehicle joint projection program. The processor implements the steps in each of the vehicle joint projection method embodiments described above when executing the computer program, such as the step S71 shown in the figure. Figure 5 The processor implements the functions of each module / unit in each of the device embodiments described above when executing the computer program, such as the judging module.

[0228] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the processor.

[0229] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the data processing terminal by running or executing the computer program and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a nonvolatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0230] Among them, if the integrated module / unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of the above-mentioned various method embodiments when executed by a processor. Among them, the computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0231] It should be noted that the apparatus embodiments described above are only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. In addition, the connection relationship between the modules in the apparatus embodiments provided by the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0232] The seventh embodiment of the present application provides a computer readable storage medium, comprising a stored computer program, wherein the computer readable storage medium controls the device where the computer readable storage medium is located to execute the vehicle joint projection method according to any one of the first embodiment or the fourth embodiment when the computer program runs.

[0233] The eighth embodiment of the present application provides a vehicle joint projection system, comprising a data processing terminal and N vehicles, N is a positive integer greater than 1, the vehicle is in communication connection with the data processing terminal, the vehicle is used to execute the vehicle joint projection method according to the first embodiment, and the data processing terminal is used to execute the vehicle joint projection method according to the fourth embodiment.

[0234] Reference Figure 7 , the data transmission between different vehicles in the vehicle team and between any vehicle and the data processing terminal is carried out through MQTT (Message Queuing Telemetry Transport, Message Queuing Telemetry Transport protocol), and MQTT is a message protocol based on publishing and subscribing, and communication can be realized by relying on an EMQ (Erlang / Enterprise / Elastic MQTT Broker) server. A high-precision positioning module supporting RTK is configured on the vehicle, which can achieve an error of centimeter level, and the high-precision positioning module can obtain the position information of the vehicle. A DLP headlight is also configured on the vehicle, and the DLP headlight can project. Each vehicle in the vehicle team can upload original projection materials to the team leader vehicle, the team leader vehicle selects projection materials from all original projection materials, and sends the projection materials to the data processing terminal.

[0235] The data processing terminal performs a data processing function, which can be a cloud or a data processing device loaded on a vehicle, and the present application does not limit it. When the data processing terminal determines that joint projection is feasible, the projection materials are segmented and sent to each vehicle, and the vehicle projects according to the received projection material fragments, and finally forms the joint projection of the vehicle team.

[0236] To sum up, the vehicle joint projection method, device, vehicle, data processing terminal, computer readable storage medium and system provided by the embodiment of the present application are used to form a vehicle fleet by multiple vehicles, and joint projection is performed according to the position information of the vehicles and the region data on which the vehicle lights can project, thereby achieving the effect of coordinated projection of multiple vehicles and greatly meeting the diversified needs of users. Meanwhile, the data processing terminal performs joint projection feasibility judgment according to the received projection material, the position information and region data sent by each vehicle in the vehicle fleet, when determining that joint projection is feasible, performs segmentation processing on the projection material to obtain multiple projection material fragments, thereby realizing segmentation of the projection material and facilitating joint projection of the vehicles.

[0237] The above-described specific embodiments further specifically describe the purpose, technical solutions and advantages of the present application. It should be understood that the above-described specific embodiments are merely specific embodiments of the present application and are not used to limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for joint projection of vehicles, characterized in that, Performed by this vehicle, including: Send or receive team formation request information, and form a team with other vehicles according to the team formation request information; wherein, the team includes N vehicles, where N is a positive integer greater than 1; The pre-configured projection material is sent to the data processing terminal, which then segments the projection material to obtain N projection material fragments, and sends the N projection material fragments to the N vehicles respectively. Obtain the vehicle's location information and data on the area that its headlights can project; The location information and the area data are sent to the data processing terminal so that the data processing terminal can make a joint projection feasibility judgment based on the received projection material, the location information and area data sent by each vehicle in the convoy, and when the joint projection is determined to be feasible, the projection material is segmented. Based on the received projection materials, location information, and area data, a joint projection feasibility assessment is performed, including: When N is less than the preset number or N is an odd number, the minimum horizontal distance between the projection areas of the first and last vehicles, the maximum horizontal width of the combined projection area, and the maximum vertical height of the combined projection area are calculated based on the location information and the area data. When satisfied At that time, it was determined that the horizontal position projection was feasible; When satisfied And H max When the value is greater than 0, the vertical position projection is deemed feasible. Among them, H max W represents the maximum vertical height of the joint projection area. max W represents the maximum width of the combined projection area in the horizontal direction, d is the minimum horizontal distance between the projection areas of the first and last vehicles, and W represents the maximum width of the combined projection area in the horizontal direction. S H is the width of the projected material. S The height of the projection material; when it is determined that horizontal projection is feasible and vertical projection is feasible, it is determined that joint projection is feasible; The system receives the projection material fragments and projects them based on the received projection material fragments.

2. The vehicle joint projection method according to claim 1, characterized in that, The method further includes: When a prompt message is received, the vehicle position is adjusted according to the prompt message; wherein, the prompt message is generated by the data processing terminal when it determines that joint projection is not feasible and is sent to each vehicle in the fleet; After the vehicle position adjustment is completed, obtain the adjusted position information and area data; The adjusted location information and area data are sent to the data processing terminal, so that the data processing terminal can re-evaluate the feasibility of joint projection based on the projection material and the adjusted location information and area data sent by each vehicle in the convoy, until joint projection is deemed feasible.

3. The vehicle joint projection method according to claim 1, characterized in that, The process of sending or receiving platooning request information and forming a platoon with other vehicles based on the platooning request information includes: Send a convoy request message to other vehicles and form a convoy with other vehicles according to the convoy request message; or receive the convoy request message sent by the leader vehicle and form a convoy with the leader vehicle according to the convoy request message; wherein, there is one leader vehicle among N vehicles.

4. A vehicle combined projection device, characterized in that, The device is installed in the vehicle and includes: The team-up module is used to send or receive team-up request information and form a convoy with other vehicles based on the team-up request information; wherein, the convoy includes N vehicles, where N is a positive integer greater than 1; The first sending module is used to send pre-configured projection materials to the data processing terminal, so that the data processing terminal can segment the projection materials to obtain N projection material fragments, and send the N projection material fragments to the N vehicles respectively; A projection module is used to receive the projection material fragments and project them according to the received projection material fragments; The information acquisition module is used to acquire the vehicle's location information and the area that the headlights can project. The data sending module is used to send the location information and the area data to the data processing terminal, so that the data processing terminal can make a joint projection feasibility judgment based on the received projection material, the location information and area data sent by each vehicle in the convoy, and when the joint projection is determined to be feasible, the projection material is segmented. The judgment module is used to judge the feasibility of joint projection based on the received projection material, the location information and the area data. When the joint projection is determined to be feasible, the projection material is segmented. The judgment module includes a horizontal joint projection judgment module; the horizontal joint projection judgment module includes: a data calculation unit, which calculates the minimum horizontal distance between the projection area of ​​the first vehicle and the projection area of ​​the last vehicle, the maximum horizontal width of the joint projection area and the maximum vertical height of the joint projection area according to the position information and the area data when N is less than a preset number or N is an odd number. When satisfied At that time, it was determined that the horizontal position projection was feasible; When satisfied And H max When the value is greater than 0, the vertical position projection is deemed feasible. Among them, H max W represents the maximum vertical height of the joint projection area. max W represents the maximum width of the combined projection area in the horizontal direction, d is the minimum horizontal distance between the projection areas of the first and last vehicles, and W represents the maximum width of the combined projection area in the horizontal direction. S H is the width of the projected material. S The height of the projection material is defined as follows: The horizontal joint projection judgment unit is used to determine that joint projection is feasible when both horizontal and vertical projection are deemed feasible.

5. A vehicle, characterized in that, The system includes a vehicle body, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the vehicle joint projection method as described in any one of claims 1 to 3.

6. A method for joint projection of vehicles, characterized in that, Executed by the data processing terminal, including: Receive projection materials sent by vehicles in the convoy; wherein the convoy includes N vehicles, where N is a positive integer greater than 1; The projection material is segmented to obtain N projection material fragments; The N projection material fragments are sent to the N vehicles respectively, so that the vehicles can project according to the received projection material fragments; Receive vehicle location information and headlight projection area data from each vehicle in the convoy; Based on the received projection material, location information, and region data, a joint projection feasibility assessment is performed. If the joint projection is deemed feasible, the projection material is segmented. The step of determining the feasibility of joint projection based on the received projection material, the location information, and the area data includes: When N is less than the preset number or N is an odd number, the minimum horizontal distance between the projection areas of the first and last vehicles and the maximum vertical height of the joint projection area are calculated based on the location information and the area data. When satisfied At that time, it was determined that the horizontal position projection was feasible; When satisfied And H max When the value is greater than 0, the vertical position projection is deemed feasible. Among them, H max W represents the maximum vertical height of the joint projection area. max W represents the maximum width of the combined projection area in the horizontal direction, d is the minimum horizontal distance between the projection areas of the first and last vehicles, and W represents the maximum width of the combined projection area in the horizontal direction. S H is the width of the projected material. S The height of the projection material is defined as follows: when it is determined that horizontal projection is feasible and vertical projection is feasible, joint projection is deemed feasible.

7. The vehicle joint projection method according to claim 6, characterized in that, The method further includes: When joint projection is determined to be infeasible, a prompt message is generated and sent to each vehicle in the convoy, so that each vehicle in the convoy can adjust its position according to the prompt message. After the vehicle position adjustment is completed, the adjusted position information and area data are obtained and sent to the data processing terminal. The system receives adjusted position information and area data from each vehicle in the convoy, and performs a joint projection feasibility assessment again based on the projection material and the adjusted position information and area data from each vehicle in the convoy, until the joint projection is deemed feasible.

8. The vehicle joint projection method according to claim 6, characterized in that, The method further includes: When N is greater than or equal to the preset number and is even, determine whether any four adjacent projection regions satisfy the condition that they are adjacent and intersecting and at least one projection region intersects with the other three projection regions. If so, then joint projection is deemed feasible; If not, based on the location information and the area data, calculate the minimum horizontal distance between the projection areas of the first and last vehicles, the maximum horizontal width of the combined projection area, and the maximum vertical height of the combined projection area. When satisfied At that time, it was determined that the horizontal position projection was feasible; When satisfied And H max When the value is greater than 0, the vertical position projection is deemed feasible. Among them, H max W represents the maximum vertical height of the joint projection area. max W represents the maximum width of the combined projection area in the horizontal direction, d is the minimum horizontal distance between the projection areas of the first and last vehicles, and W represents the maximum width of the combined projection area in the horizontal direction. S H is the width of the projected material. S The height of the projection material is defined as follows: when it is determined that horizontal projection is feasible and vertical projection is feasible, joint projection is deemed feasible.

9. The vehicle joint projection method according to claim 6, characterized in that, After determining that both horizontal and vertical projection are feasible, and subsequently determining that joint projection is feasible, the projection material is segmented to obtain N projection material fragments, including: A two-dimensional coordinate system is established with the first vertex of the projection area of ​​the first vehicle as the origin, and the minimum and maximum abscissas of the projection material in the two-dimensional coordinate system are obtained. Based on the location information and the area data, calculate the midpoint of the intersection of the x-coordinates of every two adjacent vehicle projection areas to obtain N-1 midpoint x-coordinates; Based on the N-1 midpoint x-coordinates, the minimum x-coordinate of the projection material, and the maximum x-coordinate of the projection material, the projection material is segmented to obtain N projection material fragments.

10. The vehicle joint projection method according to claim 8, characterized in that, If so, after determining that joint projection is feasible, the projection material is segmented to obtain N projection material fragments, including: A two-dimensional coordinate system is established with the first vertex of the projection area of ​​the first vehicle as the origin. Based on the position information and the area data, the abscissa and ordinate of the overlapping areas of any four adjacent projection areas are obtained. The intersecting overlapping regions are divided into two intersecting overlapping regions and multiple intersecting overlapping regions based on the number of overlaps; wherein, the number of overlaps is the number of vehicles projected in the intersecting overlapping regions; Based on the x-coordinate and y-coordinate of the intersecting and overlapping regions, the coordinates of the midpoint of each of the two intersecting and overlapping regions are obtained; Based on the midpoint coordinates of each of the two intersecting and overlapping regions, each of the two intersecting and overlapping regions is divided into equal parts. In a clockwise order, multiple intersecting regions are judged sequentially. When it is determined that the multiple intersecting overlapping regions are included in the vehicle projection area, the multiple intersecting overlapping regions are assigned to the projection area of ​​the corresponding vehicle; wherein, each of the multiple intersecting overlapping regions is assigned to the projection area of ​​only one vehicle. Based on the equal division and the determination of the multiple intersecting regions, the final projection area of ​​each vehicle is obtained; The projection material is cut proportionally according to the final projection area of ​​each vehicle to obtain N projection material fragments.

11. A vehicle combined projection device, characterized in that, The device is installed in a data processing terminal and includes: The first receiving module is used to receive projection materials sent by vehicles in the convoy; wherein the convoy includes N vehicles, and N is a positive integer greater than 1; The material segmentation module is used to segment the projection material to obtain N projection material fragments; The second sending module is used to send N projection material fragments to N vehicles respectively, so that the vehicles can project according to the received projection material fragments; The second receiving module is used to receive vehicle location information and headlight projection area data sent by each vehicle in the convoy. The judgment module is used to judge the feasibility of joint projection based on the received projection material, the location information and the area data. When the joint projection is determined to be feasible, the projection material is segmented. The judgment module includes a horizontal joint projection judgment module; the horizontal joint projection judgment module includes: a data calculation unit, which calculates the minimum horizontal distance between the projection area of ​​the first vehicle and the projection area of ​​the last vehicle, the maximum horizontal width of the joint projection area and the maximum vertical height of the joint projection area according to the position information and the area data when N is less than a preset number or N is an odd number. When satisfied At that time, it was determined that the horizontal position projection was feasible; When satisfied And H max When the value is greater than 0, the vertical position projection is deemed feasible. Among them, H max W represents the maximum vertical height of the joint projection area. max W represents the maximum width of the combined projection area in the horizontal direction, d is the minimum horizontal distance between the projection areas of the first and last vehicles, and W represents the maximum width of the combined projection area in the horizontal direction. S H is the width of the projected material. S The height of the projection material is defined as follows: The horizontal joint projection judgment unit is used to determine that joint projection is feasible when both horizontal and vertical projection are deemed feasible.

12. A data processing terminal, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the vehicle joint projection method as described in any one of claims 6 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the vehicle joint projection method as described in any one of claims 1 to 3, or to perform the vehicle joint projection method as described in any one of claims 6 to 10.

14. A vehicle joint projection system, characterized in that, The system includes a data processing terminal and N vehicles, where N is a positive integer greater than 1. The vehicles are communicatively connected to the data processing terminal. The vehicles are used to execute the vehicle joint projection method as described in any one of claims 1 to 3. The data processing terminal is used to execute the vehicle joint projection method as described in any one of claims 6 to 10.

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