Vehicle control method, device, lighting system, vehicle and medium

Abstract

The present application discloses a vehicle control method, a control device, an electronic device, a vehicle lighting system, a vehicle and a computer-readable storage medium, wherein the control method comprises: obtaining a first projection content, and controlling a light-emitting device to project a first projection object onto a projection surface according to the first projection content. In this way, the present application enables the vehicle to control the light-emitting device to project a first projection object determined by the first projection content onto the projection surface when the first projection content is obtained, thereby completing the projection action for the first projection content, and to a certain extent avoiding the situation where the first projection content is directly projected onto the projection surface, resulting in a significant difference between the content presented on the projection surface and the first projection content, so that the projection effect of the light-emitting device can be guaranteed, thereby guaranteeing the user's experience of using the light-emitting device and the driving experience of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a control device, an electronic device, a vehicle lighting system, a vehicle, and a computer-readable storage medium. Background Art

[0002] In the related art, the lighting devices of vehicles have the function of projecting patterns, images and other contents onto the ground. However, during the use of the vehicle, the angle, height, spacing and other properties of the lighting devices may change, resulting in distortion and uneven splicing of the projection images of the lighting devices, which greatly affects the projection effect and ultimately affects the user experience. Summary of the invention

[0003] The present application provides a vehicle control method, a control device, an electronic device, a vehicle lighting system, a vehicle, and a computer-readable storage medium.

[0004] An embodiment of the present application provides a method for controlling a vehicle, wherein the vehicle includes a light emitting device, and the light emitting device can project an object to be projected onto a projection surface, and the method includes:

[0005] Get the first projection content;

[0006] According to the first projection content, the light emitting device is controlled to project a first projection object onto the projection surface, wherein the first projection object is determined according to the first projection content.

[0007] In the vehicle control method provided in the embodiment of the present application, the vehicle can obtain the first projection content, and according to the first projection content, control the light-emitting device to project the first projection object determined by the first projection content onto the projection surface.

[0008] In this way, in the embodiment of the present application, when the vehicle obtains the first projection content, it can control the light-emitting device to project the first projection object determined by the first projection content onto the projection surface, thereby completing the projection action for the first projection content. To a certain extent, it avoids the situation where the first projection content is directly projected onto the projection surface, resulting in a significant difference between the content presented on the projection surface and the first projection content, so that the projection effect of the light-emitting device can be guaranteed, thereby ensuring the user experience of the light-emitting device and the driving experience of the vehicle.

[0009] In the embodiment of the present application, a pattern corresponding to the first projection content is presented in a first area of ​​the projection surface.

[0010] In this way, in the embodiment of the present application, after the vehicle projects the first projection object, a pattern corresponding to the first projection content can be presented in the first area of ​​the projection surface.

[0011] In the embodiment of the present application, the first area is a sub-area of ​​the projection area of ​​the light-emitting device on the projection surface.

[0012] Thus, in the embodiment of the present application, the first projection content can be displayed in a sub-area of ​​the projection area of ​​the light-emitting device on the projection surface, thereby ensuring the integrity of the first projection content on the projection surface to a certain extent.

[0013] In the implementation manner of the present application, the first projection object is determined according to the first projection content, the first area, and the corresponding relationship between the projection object and the projection area.

[0014] Thus, in the embodiment of the present application, the first projection object can be determined according to the first projection content, the first area and the correspondence between the projection object and the projection area, which to a certain extent ensures the reliability of the light-emitting device projecting the first projection object so that the first projection content is presented on the projection surface.

[0015] In the embodiment of the present application, the method further includes:

[0016] Acquire a first projection surface image of a first picture card projected by the light emitting device onto the projection surface;

[0017] The corresponding relationship is determined according to the first image card and the first projection surface image.

[0018] In this way, in the embodiment of the present application, the correspondence between the projection object and the projection area can be determined based on the first projection surface image obtained by photographing the projection surface when the light-emitting device projects the first image card onto the projection surface, which ensures the credibility of the correspondence between the projection object and the projection area to a certain extent.

[0019] In the implementation manner of the present application, determining the corresponding relationship according to the first picture card and the first projection surface image includes:

[0020] The corresponding relationship is determined according to the first position information of the feature point in the first image card and the second position information of the feature point in the first projection surface image.

[0021] In this way, in the implementation mode of the present application, the vehicle can determine the correspondence between the projection object and the projection area based on the first position information of the feature point in the first image card and the second position information of the feature point in the image of the first projection surface, thereby achieving efficient determination of the correspondence to a certain extent.

[0022] In the implementation manner of the present application, the first projection surface image is an image of a preset viewing angle.

[0023] Thus, in the implementation mode of the present application, the vehicle can determine the correspondence between the projection area and the projection object according to the first projection surface image of the preset viewing angle, which ensures the rationality and effectiveness of the correspondence between the projection area and the projection object to a certain extent.

[0024] In an embodiment of the present application, the first projection surface image is determined based on camera parameters of a vehicle camera and a second projection surface image captured by the vehicle camera when the light-emitting device projects the first image card onto the projection surface.

[0025] Thus, in the embodiment of the present application, the vehicle can determine the first projection surface image of the preset viewing angle through the camera parameters of the vehicle camera and the second projection surface image captured by the vehicle camera.

[0026] The present application provides a control device, including:

[0027] A transceiver unit, used for acquiring first projection content;

[0028] A processing unit is used to control the light emitting device to project a first projection object onto a projection surface according to the first projection content, wherein the first projection object is determined according to the first projection content, and the light emitting device can project the object to be projected onto the projection surface.

[0029] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0030] An embodiment of the present application provides a lighting system for a vehicle, the system comprising a light emitting device, and the system further comprising the above-mentioned control device or the above-mentioned electronic device.

[0031] An embodiment of the present application provides a vehicle, including the above-mentioned control device, or including the above-mentioned electronic device, or including the above-mentioned vehicle lighting system.

[0032] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0033] The control device, electronic device, vehicle lighting system, vehicle and computer-readable storage medium provided in the embodiments of the present application enable the vehicle to control the light-emitting device to project the first projection object determined by the first projection content onto the projection surface when the first projection content is acquired, thereby completing the projection action for the first projection content, and to a certain extent avoiding the situation in which the first projection content is directly projected onto the projection surface, resulting in a significant difference between the content presented on the projection surface and the first projection content, so that the projection effect of the light-emitting device can be guaranteed, thereby ensuring the user experience of the light-emitting device and the driving experience of the vehicle.

[0034] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 This is a schematic diagram of the projection of pixel headlights;

[0037] Figure 2 This is one of the schematic diagrams of the projection pattern from a top-down perspective;

[0038] Figure 3 This is the second schematic diagram of the projection pattern from a top-down perspective;

[0039] Figure 4 This is the third schematic diagram of the projection pattern from a top-down perspective;

[0040] Figure 5 This is one of the flowcharts of the vehicle control method in certain embodiments of the present application;

[0041] Figure 6 This is one of the application scenario schematic diagrams in certain embodiments of the present application;

[0042] Figure 7 This is the second schematic diagram of an application scenario in certain embodiments of the present application;

[0043] Figure 8 This is a second flow chart of a vehicle control method in certain embodiments of the present application;

[0044] Fig. 9 This is a third flow chart of a vehicle control method in certain embodiments of the present application;

[0045] Fig.10 A schematic diagram of a control device in some embodiments of the present application;

[0046] Fig.11 This is a schematic diagram of a control system in certain embodiments of the present application. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0048] With the upgrading of manufacturing technology of lighting components and the improvement of user demand, the types and functions of lighting components in vehicles are becoming more and more abundant, such as ambient lights for adjusting the interior environment, brake lights for reminding following vehicles, interior lights with decorative effects, and pixel headlights.

[0049] Among them, pixel headlights are a type of headlight based on pixel dot matrix design, which consists of multiple independently controllable LED (Light Emitting Diode) units, and can achieve accurate lighting effects. They can also adjust the color and brightness of different LED units to achieve flexible and diverse lighting effects. In addition, some driving assistance functions such as adaptive high beam and curve lighting can be realized through LED units, thereby improving the intelligence level of the vehicle. Therefore, the importance of pixel headlights in the vehicle industry has gradually increased.

[0050] Furthermore, in the process of installing the pixel headlights on the left and right sides of the vehicle, there may be problems such as inconsistent installation pitch angles, installation positions not being on the same horizontal line, etc., resulting in more or less slight errors in the angles, heights, spacing, etc. of the pixel headlights on the left and right sides. Moreover, as the vehicle travels more, these errors will increase further. In addition, since the pixel headlights have a pitch angle relative to the projection surface (such as the ground), when a specific pattern is projected onto the projection surface (such as the ground) through the pixel headlights on the left and right sides, the actual projected pattern may be distorted, unevenly spliced, and other problems, which greatly affect the imaging effect of the pixel headlights, and thus cause a bad experience for users when using the vehicle.

[0051] For a clearer illustration of the impact of the above errors on the pixel headlight projection function, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 .in, Figure 1 This is a schematic diagram of the projection of pixel headlights. Figure 2 , Figure 3 and Figure 4 All of them are schematic diagrams of projection patterns from a top-down perspective. Figure 1As shown, the vehicle's pixel-based headlights project a rectangular pattern, or in other words, the projected rectangle ABCD When the above-mentioned angle, height, spacing and other errors are not taken into account, the projection pattern is the original image (i.e., the rectangular ABCD ) is a stretched pattern with an unbalanced aspect ratio, that is, Figure 2 The trapezoid shown A 1' B 1' C 1' D 1'.

[0052] Furthermore, if Figure 3 As shown in the figure, due to the aforementioned angle, height, spacing and other errors in actual projection, the projection pattern may also be inconsistent due to the inconsistency of the pitch angles of the left and right pixel headlights. A 1' B 1' C 1' D 1', resulting in shape distortion, such as Figure 3 The graphics shown A 2' B 2' C 2' D 2', no longer forming a trapezoid. Also, if the installation positions are not on the same horizontal line, the projection pattern will be A '1 B '1 C '1 D '1 is misaligned, resulting in Figure 4 The graphics shown A 3' B 3' C 3' D 3', not with A '1 B '1 C '1 D '1Align.

[0053] It is understandable that the aforementioned errors in angle, height, spacing, etc. usually exist simultaneously during actual projection, so the projection in actual situations may have more obvious distortion and misalignment.

[0054] Based on the above problems you may encounter, please refer to Figure 5 The embodiment of the present application provides a method for controlling a vehicle, wherein the vehicle includes a light emitting device, and the light emitting device can project an object to be projected onto a projection surface, and the method includes:

[0055] 01: Get the first projection content;

[0056] 02: According to the first projection content, control the light emitting device to project a first projection object onto the projection surface, wherein the first projection object is determined according to the first projection content.

[0057] The embodiment of the present application provides a control device. The control method of the embodiment of the present application can be implemented by the control device of the embodiment of the present application. Specifically, the control device includes a transceiver unit and a processing unit. The transceiver unit is configured to obtain a first projection content. The processing unit is configured to control the light-emitting device to project a first projection object onto a projection surface according to the first projection content, the first projection object is determined according to the first projection content, and the light-emitting device can project the object to be projected onto the projection surface.

[0058] The embodiment of the present application also provides an electronic device, which includes a memory and a processor. The control method of the vehicle of the embodiment of the present application can be implemented by the electronic device of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain a first projection content, and to control the light-emitting device to project a first projection object onto the projection surface according to the first projection content, and the first projection object is determined according to the first projection content.

[0059] Specifically, in an embodiment of the present application, the vehicle (or control device, or electronic device) can control the light-emitting device to perform projection through the first projection object determined by the first projection content when obtaining the first projection content to be projected onto the projection surface, thereby completing the projection of the first projection content onto the projection surface.

[0060] To more clearly illustrate the implementation of this application, please refer to Figure 6 and Figure 7 , Figure 6 and Figure 7 are schematic diagrams of application scenarios in certain embodiments of the present application. Figure 6 As shown, the vehicle obtains the first projection content, which is a rectangular A 4 B 4 C 4 D 4, if the vehicle moves the rectangle A 4 B 4 C 4 D 4 as the projection object and projected onto the projection surface (i.e. Figure 6 In the case of the area formed by the oblique lines in the rectangle, due to the depression angle of the light emitting device relative to the ground, as well as the error factors such as the installation angle, installation height, and installation spacing of the light emitting device, A 4 B 4 C 4 D 4 The projection pattern on the projection surface will be distorted, such as A 4'B 4' C 4' D 4' shown in the pattern.

[0061] Furthermore, in order to avoid the above-mentioned distortion, the vehicle of the embodiment of the present application can A 5 B 5 C 5 D 5 as the projection object and projected onto the projection surface, or in other words, Figure 7 As shown, for the occluding rectangle A 4 B 4 C 4 D 4. The part of the content in the obtained rectangle A 5 B 5 C 5 D 5. The rectangle A 5 B 5 C 5 D 5 is used as a projection object and projected onto the projection surface so that a less distorted rectangular shape appears on the projection surface. A 4 B 4 C 4 D 4 pattern (i.e. the white rectangle within the projection surface).

[0062] In this way, in the embodiment of the present application, when the vehicle obtains the first projection content, it can control the light-emitting device to project the first projection object determined by the first projection content onto the projection surface, thereby completing the projection action for the first projection content. To a certain extent, it avoids the situation where the first projection content is directly projected onto the projection surface, resulting in a significant difference between the content presented on the projection surface and the first projection content, so that the projection effect of the light-emitting device can be guaranteed, thereby ensuring the user experience of the light-emitting device and the driving experience of the vehicle.

[0063] It can be understood that the light emitting device in the embodiment of the present application can be understood as a device with a projection function, such as a pixel headlight, etc. And, in order to clearly illustrate the embodiment of the present application, the pixel headlight will be used as an example for explanation.

[0064] Furthermore, the light emitting device in the embodiment of the present application can project the object to be projected onto the projection surface. The object to be projected can be understood as visual information such as pictures, images, texts, or data of such visual information. Also, the light emitting device in the embodiment of the present application can be controlled to generate light acting on the projection surface according to the object to be projected, so that the corresponding content can be presented on the projection surface, that is, Figure 7 The projection surface (i.e. the oblique line area) of A 4B 4 C 4 D 4 similar rectangles.

[0065] Furthermore, the projection surface in the implementation manner of the present application can be understood as the ground, wall, etc., which can be determined according to actual conditions. In addition, in order to clearly illustrate the implementation manner of the present application, the ground will be used as an example for explanation.

[0066] In addition, it can also be understood that in the embodiment of the present application, the first projection content can be understood as information that the user wants to project on the projection surface through the light-emitting device of the vehicle, or as information pre-set in the vehicle that can be projected on the projection surface through the light-emitting device of the vehicle, including but not limited to Figure 6 or Figure 7 The rectangle in A 4 B 4 C 4 D 4. It can be understood that the rectangle is only one of the feasible forms of the first projection content in the implementation mode of the present application, and the first projection content in the implementation mode of the present application can be adjusted according to actual conditions.

[0067] Furthermore, in the embodiment of the present application, the first projection object can be understood as data for the vehicle to control the light-emitting device to emit light, or as a data object actually projected by the light-emitting device. Figure 6 and Figure 7 For example, a user or a vehicle wants to display a rectangular pattern on the ground through the projection function of the light emitting device, so the rectangular A 4 B 4 C 4 D 4 as the first projection content, and the vehicle is based on the rectangular A 4 B 4 C 4 D 4 Determined rectangle A 5 B 5 C 5 D 5. Control the light emitting device to emit light to turn the rectangular A 5 B 5 C 5 D 5 is projected onto the ground so that the ground shows a corresponding rectangular pattern.

[0068] In some embodiments of the present application, a pattern corresponding to the first projection content is presented in a first area of ​​the projection surface.

[0069] Specifically, in the embodiment of the present application, when the vehicle projects the first projection object onto the projection surface, or when the vehicle controls the light-emitting device to generate light acting on the projection surface, a pattern corresponding to or similar to the first projection content will appear in the first area of ​​the projection surface, such as Figure 7 In the projection plane (i.e. the oblique line area), the rectangle A 4 B 4 C 4 D 4 (projected content) similar rectangle.

[0070] In this way, in the embodiment of the present application, after the vehicle projects the first projection object, a pattern corresponding to the first projection content can be presented in the first area of ​​the projection surface.

[0071] In the embodiment of the present application, the first area is a sub-area of ​​the projection area of ​​the light-emitting device on the projection surface.

[0072] It should be noted that in the embodiment of the present application, when the light emitting device projects the first projection object, it will project the first projection object into its own maximum projection area. Figure 7 As shown, the projection area of ​​the light emitting device on the projection surface Figure 7 When the light emitting device directly uses the first projection content as the projection object and projects it onto the projection surface, the closed area presents the corresponding content, that is, the rectangular A 4' B 4' C 4' D 4', or, the projection area is rectangular A 4' B 4' C 4' D 4' occupied.

[0073] It should also be noted that, since the projection area of ​​the light-emitting device on the projection surface is the above-mentioned closed area, in order to ensure that the first projection content can be reliably displayed and observed by the user, the display area within the first projection must be within the above-mentioned closed area, or in other words, the display area within the first projection must be within the projection area of ​​the light-emitting device.

[0074] Thus, in the embodiment of the present application, the first projection content can be displayed in a sub-area of ​​the projection area of ​​the light-emitting device on the projection surface, thereby ensuring the integrity of the first projection content on the projection surface to a certain extent.

[0075] In the implementation manner of the present application, the first projection object is determined according to the first projection content, the first area, and the corresponding relationship between the projection object and the projection area.

[0076] Specifically, in the embodiment of the present application, the first projection object can be determined according to the content to be projected (ie, the first projection content), the display area of ​​the content (ie, the first area), and the mapping relationship between the projection object and the projection area.

[0077] It should be noted that, in the embodiments of the present application, the corresponding relationship between the projection object and the projection area can be understood as the mapping relationship between the projection area of ​​a projection object on the projection surface. Figure 6 , and order Figure 6 Medium Rectangle A 4 B 4 C 4 D The vertices of 4 are A 4( x 1, y 1) B 4( x 2, y 2) C 4( x 3, y 3) and D 4( x 4, y 4) and order Figure 6 Medium Graphics A 4' B 4' C 4' D The vertices of 4' are A '4( x 1 ' , y 1 ' ), B '4( x 2 ' , y 2 ' ), C '4( x 3 ' , y 3 ' )and D '4( x 4 ' , y 4 ' ), then:

[0078] In the rectangle A 4 B 4 C 4 D 4 is the projection object, the projection object is located at ( x 1, y 1) point A 4 The (x 1 ' , y 1 ' ) at this position, the projected object is located at ( x 2, y 2) point B 4 The ( x 2 ' , y 2 ' ) at this position, the projected object is located at ( x 3, y 3) point C 4 The ( x 3 ' , y 3 ' ) at this position, the projected object is located at ( x 4, y 4) points D 4 The ( x 4 ' , y 4 ' ) at this position, the coordinate set with corresponding relationship is ( x 1, y 1)-( x 1 ' , y 1 ' )、( x 2, y 2)-( x 2 ' , y 2 ' )、( x 3, y 3)-( x 3 ' , y 3 ' )as well as( x 4, y 4)-( x 4 ' , y 4 ' ).

[0079] It can be understood that, based on the above coordinate groups with corresponding relationships, the corresponding relationship between the projection object and the projection area can be determined.

[0080] Optionally, in the implementation manner of the present application, the correspondence between the projection object and the projection area can be understood as a conversion relationship between “the coordinate system to which the projection object belongs” and “the coordinate system to which the projection area belongs”.

[0081] Furthermore, for the two-dimensional coordinate system, the corresponding relationship between the projection object and the projection area can be expressed as equations (1) and (2), namely:

[0082] (1)

[0083] (2)

[0084] In formula (1) and formula (2), x It can be understood as the horizontal coordinate in the "coordinate system to which the projection object belongs". y It can be understood as the ordinate in the "coordinate system to which the projection object belongs". x' It can be understood as the horizontal coordinate in the "coordinate system to which the projection area belongs". y' It can be understood as the ordinate in the "coordinate system to which the projection area belongs". T It can be understood as the conversion matrix between the "coordinate system to which the projection object belongs" and the "coordinate system to which the projection area belongs". a , b , c , d , e , f , g , h and i can all be understood as matrix parameters.

[0085] In addition, it can also be understood that, when determining a corresponding relationship similar to that indicated by the above formulas (1) and (2), the embodiment of the present application can determine the first projection object according to the display area (i.e., the first area) of the content to be projected (i.e., the first projection content) on the projection surface.

[0086] For example, Figure 7 As shown, Figure 7 The enclosed area formed by the dotted line (i.e., the projection area of ​​the light-emitting device) is R 0, and let the white rectangular area in the closed area be R 1, then R Divide by 0 R All pixels in the area other than 1 are set to 0. R All pixels in the 1 area are set to 1, thus obtaining R '0, reuse R '0The above transformation matrix T By performing the corresponding conversion, we can get Figure 7 Medium Rectangle A 5 B 5 C 5 D 5, which is the first projection object.

[0087] Furthermore, in the light emitting device, the rectangular A 5 B 5 C 5 D 5 When projecting onto a projection surface, the area on the projection surface R Middle, Region R Area within R 1 is illuminated and the rest are not, or area R Area within R 1 is not illuminated while other areas are illuminated, making the rectangle A 4 B 4 C 4 D 4 Similar rectangles A 5 B 5 C 5 D 5 is presented on the projection surface.

[0088] Thus, in the embodiment of the present application, the first projection object can be determined according to the first projection content, the first area and the correspondence between the projection object and the projection area, which to a certain extent ensures the reliability of the light-emitting device projecting the first projection object so that the first projection content is presented on the projection surface.

[0089] See also Figure 8 In certain embodiments of the present application, the vehicle control method further includes:

[0090] 03: Acquire a first projection surface image of a first image card projected by the light-emitting device onto the projection surface;

[0091] 04: Determine the corresponding relationship based on the first image card and the first projection surface image.

[0092] The transceiver unit of the embodiment of the present application is configured to obtain a first projection surface image of a first image card projected by the light emitting device onto the projection surface. The processing unit is configured to determine a corresponding relationship according to the first image card and the first projection surface image.

[0093] The processor of the embodiment of the present application is also used to obtain a first projection surface image of the first image card projected by the light-emitting device onto the projection surface, and to determine a corresponding relationship based on the first image card and the first projection surface image.

[0094] Specifically, in the embodiments of the present application, the corresponding relationship between the projection object and the projection area can be determined by photographing the projection surface to obtain a first projection surface image when the light-emitting device projects the first image card onto the projection surface.

[0095] Among them, it can be understood that the first picture card can be understood as Figure 6 or Figure 7 In A 4 B 4C 4 D 4. The first projection surface image can be understood as Figure 6 Image of the projection area formed by the oblique lines.

[0096] In one example, the vehicle can be based on the first map (i.e. Figure 6 The rectangle in A 4 B 4 C 4 D 4) The coordinates of each point and the projection area (i.e., rectangle) in the first projection surface image A 4' B 4' C 4' D 4'), calculate the conversion matrix between the coordinate system of the first chart and the coordinate system of the projection area, so as to obtain the corresponding relationship between the projection object and the projection area.

[0097] In this way, in the embodiment of the present application, the correspondence between the projection object and the projection area can be determined based on the first projection surface image obtained by photographing the projection surface when the light-emitting device projects the first image card onto the projection surface, which ensures the credibility of the correspondence between the projection object and the projection area to a certain extent.

[0098] In addition, it can also be understood that the vehicle in the embodiment of the present application can control the light-emitting device to project the first image card onto the projection surface before being sold out of the factory, and control its own photographic components to shoot the projection surface to obtain the first projection surface image, and calculate the transformation matrix between the coordinate system to which the first image card belongs and the coordinate system of the projection area based on the first image card and the first projection surface image, so as to obtain the correspondence between the projection object and the projection area.

[0099] Furthermore, when a user is driving a vehicle and wants the vehicle to project a first projection content, the vehicle can determine a target projection area of ​​a projection surface where a pattern corresponding to the first projection content resides, and based on the target display area and the correspondence between the projection object and the projection area obtained previously, obtain a first projection object corresponding to the first projection content. Finally, the vehicle controls the light-emitting device to project the first projection object so that the pattern corresponding to the first projection content appears in the target projection area of ​​the projection surface, thereby completing the projection of the first projection content.

[0100] In certain embodiments of the present application, step 04 includes:

[0101] The corresponding relationship is determined according to the first position information of the feature point in the first image card and the second position information of the feature point in the image of the first projection surface.

[0102] The processing unit of the embodiment of the present application is configured to determine the corresponding relationship according to the first position information of the feature point in the first image card and the second position information of the feature point in the image of the first projection surface.

[0103] The processor of the embodiment of the present application is also used to determine the corresponding relationship according to the first position information of the feature point in the first image card and the second position information of the feature point in the image of the first projection surface.

[0104] Specifically, in order to efficiently determine the object relationship between the projection object and the projection area, in an embodiment of the present application, the vehicle can determine the object relationship between the projection object and the projection area based on the first position information of the feature points of the first image card and the second position information of these feature points in the projection area of ​​the projection surface after the light-emitting device projects the first image card.

[0105] In one example, the vehicle can be based on the first map (i.e. Figure 6 In A 4 B 4 C 4 D 4) Each vertex (i.e. A 4. B 4. C 4 and D 4), and the projection area in the first projection surface image (i.e. Figure 6 In A 4' B 4' C 4' D 4') of the four vertices (i.e. A 4', B 4', C 4' and D 4'), calculate the transformation matrix between the coordinate system of the first chart and the coordinate system of the projection area, so as to obtain the corresponding relationship between the projection object and the projection area, as shown in the above formulas (1) and (2).

[0106] In this way, in the implementation mode of the present application, the vehicle can determine the correspondence between the projection object and the projection area based on the first position information of the feature point in the first image card and the second position information of the feature point in the image of the first projection surface, thereby achieving efficient determination of the correspondence to a certain extent.

[0107] In certain embodiments of the present application, the first projection surface image is an image of a preset viewing angle.

[0108] Specifically, in order to ensure the rationality and effectiveness of the correspondence between the projection area and the projection object, in an embodiment of the present application, the vehicle can determine the correspondence between the projection area and the projection object through a projection surface image of a preset viewing angle (i.e., the first projection surface image).

[0109] For example, Figure 6 For example, if the user wants to Figure 6 The first card above the middle arrow (i.e. the rectangle A 4 B 4 C 4 D 4) When projecting onto a projection surface (such as the ground), the user may be looking down at the projection surface, so the image the user sees may be as follows: Figure 6 As shown below the middle arrow, in order to avoid the situation where the user finds that the pattern on the projection surface is significantly different from the first image card when observing the projection surface from a bird's-eye view, the vehicle in the embodiment of the present application uses the first projection surface image at a preset perspective (such as a bird's-eye view) to determine the correspondence between the projection area and the projection object.

[0110] Thus, in the implementation mode of the present application, the vehicle can determine the correspondence between the projection area and the projection object according to the first projection surface image of the preset viewing angle, which ensures the rationality and effectiveness of the correspondence between the projection area and the projection object to a certain extent.

[0111] In certain embodiments of the present application, the first projection surface image is determined based on camera parameters of the vehicle camera and a second projection surface image captured by the vehicle camera when the light-emitting device projects the first image card onto the projection surface.

[0112] Specifically, due to the limitations of the camera installation position, camera installation angle and vehicle height, the camera in the vehicle is usually unable to capture Figure 6 The image below the middle arrow shows the content (i.e., the image taken from a perspective perpendicular to the ground). Therefore, in the implementation manner of the present application, after controlling the light-emitting device to project the first image card onto the projection surface, the vehicle can control the vehicle camera to shoot the projection surface to obtain a second projection surface image, and then adjust the shooting perspective of the second projection surface image according to the internal parameters and external side of the vehicle camera to obtain the first projection surface image of a preset perspective.

[0113] Thus, in the embodiment of the present application, the vehicle can determine the first projection surface image of the preset viewing angle through the camera parameters of the vehicle camera and the second projection surface image captured by the vehicle camera.

[0114] In addition, it can be understood that the method for obtaining the camera parameters of the vehicle camera can be set according to the actual situation. For example, in certain embodiments of the present application, after the vehicle reaches the preset location, the vehicle camera shoots a plurality of pre-installed calibration points and obtains the object coordinates of these calibration points in the world coordinate system. Then, the vehicle determines the object coordinates of these calibration points in the image coordinate system based on the image captured by the vehicle camera. Finally, according to the object coordinates of these calibration points in the world coordinate system and the image coordinate system, the intrinsic and extrinsic parameters of the camera are calculated, thereby obtaining the camera parameters.

[0115] The calibration point may be a point pointed to by a black and white checkerboard calibration plate of known size.

[0116] Optional, see Fig. 9 , Fig.10 and Fig.11 , Fig. 9 This is a flow chart of a vehicle control method in certain embodiments of the present application. Fig.10 This is a schematic diagram of a control device in some embodiments of the present application. Fig.11 This is a schematic diagram of a control system in certain embodiments of the present application.

[0117] Specifically, Fig.10 The controls shown and Fig.11 The control systems shown can be used to perform Fig. 9 The vehicle control method shown.

[0118] Furthermore, if Fig. 9 As shown in step 10 of , the vehicle can control the light emitting device (such as pixel headlight) to correct the rectangular shape and the white filled color of the picture card (such as Figure 6 In A 4 B 4 C 4 D 4) Projecting onto the ground (ie, the projection surface), and photographing the ground through the vehicle camera (or the image acquisition module 210) to obtain a first image, that is, acquiring the projection image to obtain the first image.

[0119] Then, if Fig. 9 As shown in step 11 of FIG. 1 , the vehicle can convert the first image into a second image (such as a top-down view) according to the intrinsic and extrinsic parameters of the camera. Figure 6 In other words, based on the perspective conversion module 220, the first image is converted into a second image of a top-down perspective according to the intrinsic parameters and extrinsic parameters of the camera.

[0120] Then, if Fig. 9 As shown in step 12 of the embodiment, according to the light emitting device projection chart in the second image, the feature points of the pattern displayed on the ground (such as Figure 6middle A 4' B 4' C 4' D 4 vertices of 4' A 4', B 4', C 4' and D 4') coordinates in the image coordinate system or the world coordinate system, and determine the position of the feature point of the pattern in the corresponding above-mentioned image card (such as A 4 B 4 C 4 D 4 of 4 vertices A 4. B 4. C 4 and D 4).

[0121] The positions of these feature points in the corresponding image card can be described by the image coordinate system, and the positions of the feature points in the image card can be determined by the resolution of the image card. For example, let the image card be a rectangle with a width of w pixels and a height of h pixels, and the image coordinate starting point is (0,0), then A Point 4 is (0,0), B The 4th point is (w,0), C 4 points are (0,h), D The 4 points are (w,h).

[0122] After obtaining the characteristic points of the pattern displayed on the ground (such as Figure 6 middle A 4' B 4' C 4' D 4 vertices of 4' A 4', B 4', C 4' and D 4') in the image coordinate system or the world coordinate system, and obtain the coordinates of these feature points in the pixel coordinate system in the image card corresponding to the pattern (such as A 4 B 4 C 4 D 4 of 4 vertices A 4. B 4. C 4 and D 4), the transformation matrix of the two coordinate systems can be determined based on the coordinates of these feature points.

[0123] Then, if Fig. 9 As shown in step 13 of , a new projection area of ​​the image card is selected in the second image under the top-down perspective (such as Figure 7 The white rectangular area surrounded by the dotted line in the figure).

[0124] It is understandable that in Figure 7 In the figure, the enclosed area formed by the dotted line is the projection area of ​​the light emitting device on the projection surface. It can also be understood that since the projection area of ​​the light emitting device on the projection surface is Figure 7 The enclosed area formed by the middle dashed line, so the new projection area of ​​the chart can be within the enclosed area. Also, the size of the new projection area of ​​the chart can be the same or similar to the size of the chart, so as to avoid the chart and the corresponding projection pattern being consistent or similar when viewed from a top view.

[0125] After the new projection area of ​​the image card is selected, the values ​​of the pixels outside the new projection area may be set to 0.

[0126] It is understandable that in the projection process of the pixel headlight, the area set to 0 indicates the weakest light intensity. Further, the distorted part can be shielded by weakening the light intensity to avoid distortion of the projection pattern.

[0127] After completing the process of setting the values ​​of pixels outside the new projection area to 0 to obtain the target image, the target image can be transformed by the previously determined transformation matrix to transform it into the image coordinate system corresponding to the chart, thereby obtaining a distortion-corrected chart (such as Figure 7 In A 5 B 5 C 5 D 5).

[0128] Finally, the vehicle can load the distortion-corrected image card into the light-emitting device, or in other words, control the light-emitting device to project the distortion-corrected image card onto the projection surface, thereby completing the distortion correction and projection of the distortion-corrected image card.

[0129] It can be understood that when collecting the projection image, the distorted image collected includes all the distortions of projection, installation, etc. The feature points of the distorted image under the top-down perspective match the feature points of the chart. When calculating the transformation matrix, all the distortions are already included in the transformation matrix. Since these distortions are all linear transformations, this method can correct the distortions caused by projection, installation, etc. By reselecting the projection area and the linear change matrix, the distortion-corrected chart can be directly calculated to correct the projection image.

[0130] In addition, it can also be understood that the above step 10 can be performed by Fig.10 The image acquisition module 210 in the embodiment of the present invention is executed, or the ... present invention is Fig.11 The camera 310 and the processor 320 cooperate to perform. Similarly, the above step 11 can be performed by Fig.10 The perspective conversion module 220 in the embodiment of the present invention is executed, or the ... Fig.11 The processor 320 and the storage 330 cooperate to execute. And the above step 12 can be performed by Fig.10The matrix calculation module 230 in the embodiment is executed, or the matrix calculation module 230 in the embodiment is executed Fig.11 The processor 320 and the storage 330 cooperate to execute. In addition, the above step 13 can be performed by Fig.10 The correction chart calculation module 240 in the embodiment of the present invention is executed, or the ... present invention is executed, or the correction chart calculation module 240 in Fig.11 The processor 320 and the storage 330 cooperate to execute.

[0131] The embodiment of the present application further provides a lighting system for a vehicle. The lighting system includes a light emitting device and the above-mentioned control device or the above-mentioned electronic device.

[0132] The embodiment of the present application further provides a vehicle, which includes the above-mentioned vehicle lighting system, or includes the above-mentioned control device, or includes the above-mentioned electronic device.

[0133] The embodiment of the present application also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned vehicle control method when the computer program is executed by one or more processors.

[0134] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0135] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0136] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a light emitting device, the light emitting device can project an object to be projected onto a projection surface, the light emitting device includes a pixel headlight, and the method includes: Get the first projection content; According to the first projection content, controlling the light emitting device to project a first projection object onto the projection surface, wherein a pattern corresponding to the first projection content is presented in a first area of ​​the projection surface, the first area being a sub-area of ​​the projection area of ​​the light emitting device on the projection surface, and the first projection object is determined according to the first projection content, the first area, and a corresponding relationship between the projection object and the projection area; The method further comprises: Control the vehicle camera to shoot a plurality of pre-set calibration points to obtain a calibration reference image; Obtaining the first object coordinate of each of the calibration points in the world coordinate system; Determining a second object coordinate of each calibration point in an image coordinate system according to the calibration reference image; Determining camera intrinsic parameters and camera extrinsic parameters of the vehicle camera according to the first object coordinates and the second object coordinates; According to the vehicle camera, obtaining a second projection surface image of the first image card projected by the light emitting device onto the projection surface; Processing the second projection surface image according to the camera intrinsic parameters and the camera extrinsic parameters to determine the first projection surface image from a bird's-eye view; Determine a plurality of coordinate groups according to first coordinates of a plurality of feature points in the first image card in a first coordinate system corresponding to the first image card, and second coordinates of each of the feature points in a second coordinate system corresponding to the image of the first projection surface; constructing a coordinate system conversion matrix between the first coordinate system and the second coordinate system according to the plurality of coordinate groups to obtain the corresponding relationship; The step of controlling the light emitting device to project a first projection object onto the projection surface according to the first projection content includes: acquiring, according to the vehicle camera, a third projection surface image of the first projection content projected by the light-emitting device onto the projection surface; Processing the third projection surface image according to the camera intrinsic parameters and the camera extrinsic parameters to determine a fourth projection surface image of a top-down perspective; According to the position of the first area in the fourth projection surface image, the pixel values ​​of the pixels in the fourth projection surface image located in the first area are set as the first data, and the pixel values ​​of the pixels outside the first area in the fourth projection surface image are set as the first data, so as to obtain a processed fourth projection surface image; According to the coordinate system conversion matrix, coordinate system conversion processing is performed on the processed fourth projection surface image, and the processed fourth projection surface image in the first coordinate system is determined to obtain the first projection object.

2. The method according to claim 1, characterized in that The first projection surface image is an image of a preset viewing angle.

3. The method according to claim 2, characterized in that The first projection surface image is determined according to camera parameters of a vehicle camera and a second projection surface image captured by the vehicle camera when the light-emitting device projects the first image card onto the projection surface.

4. A control device, characterized in that: include: A transceiver unit, used to obtain a first projection content, and control the vehicle camera to shoot a plurality of pre-set calibration points to obtain a calibration reference image, and obtain a first object coordinate of each of the calibration points in a world coordinate system, and obtain a second projection surface image of the light-emitting device projecting a first image card onto a projection surface according to the vehicle camera, and obtain a third projection surface image of the light-emitting device projecting the first projection content onto the projection surface according to the vehicle camera; a processing unit, configured to control the light emitting device to project a first projection object onto a projection surface according to the first projection content, wherein a pattern corresponding to the first projection content is presented in a first area of ​​the projection surface, the first area being a sub-area of ​​a projection area of ​​the light emitting device on the projection surface, and the first projection object being determined according to the first projection content, the first area, and a corresponding relationship between the projection object and the projection area; The processing unit is also used to determine the second object coordinates of each of the calibration points in the image coordinate system according to the calibration reference image, and to determine the camera intrinsic parameters and camera extrinsic parameters of the vehicle camera according to the first object coordinates and the second object coordinates, and to process the second projection surface image according to the camera intrinsic parameters and the camera extrinsic parameters to determine the first projection surface image of the top-down perspective, and to determine a plurality of coordinate groups according to the first coordinates of the first coordinate system corresponding to the first image card of a plurality of feature points in the first image card and the second coordinates of each feature point in the second coordinate system corresponding to the first projection surface image, and to construct a coordinate system transformation matrix between the first coordinate system and the second coordinate system according to the plurality of coordinate groups to obtain the corresponding relationship, and The camera intrinsic parameters and the camera extrinsic parameters are used to process the third projection surface image to determine a fourth projection surface image of a top-down perspective, and according to the position of the first area in the fourth projection surface image, the pixel values ​​of the pixels in the fourth projection surface image located in the first area are set to the first data, and the pixel values ​​of the pixels outside the first area in the fourth projection surface image are set to the first data to obtain a processed fourth projection surface image, and according to the coordinate system conversion matrix, the processed fourth projection surface image is subjected to coordinate system conversion processing to determine the processed fourth projection surface image in the first coordinate system to obtain the first projection object, wherein the light-emitting device is capable of projecting the object to be projected onto the projection surface, and the light-emitting device includes pixel headlights.

5. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 3 is implemented.

6. A vehicle lighting system, characterized in that: The system comprises a light emitting device, and the system further comprises the control device according to claim 4 or the electronic device according to claim 5.

7. A vehicle, characterized in that: A control device comprising the control device as claimed in claim 4, or an electronic device as claimed in claim 5, or a lighting system for a vehicle as claimed in claim 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 3 is implemented.

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