Vehicle welcome lamplight display method and system based on holographic projection technology

Abstract

The invention relates to a holographic projection technology-based vehicle welcome light display method and system. The method comprises the steps of creating a three-dimensional scene model based on vehicle surrounding environment information; performing optical simulation based on the vehicle surrounding three-dimensional scene model to generate a holographic image; restoring the coded holographic image into a three-dimensional image light wave; and projecting the three-dimensional image light wave to a welcome lamp to complete three-dimensional image projection. According to the method, the three-dimensional scene model is created through the vehicle surrounding environment information to generate the holographic image, the holographic image is restored into the three-dimensional image light wave and then projected to the welcome lamp, three-dimensional image projection can be completed, and projection becomes three-dimensional and visible in space through the holographic projection technology.

Description

Technical Field

[0001] The present application relates to the field of vehicle welcome light projection, and in particular to a vehicle welcome light display method and system based on holographic projection technology. Background Art

[0002] The existing welcome light projection is direct light projection, which projects the corporate logo. However, it has the following disadvantages: the welcome light can only be projected onto the ground, which is not conspicuous enough; the logo is a 2D image, which is not eye-catching enough; the effect of the welcome light projected onto the ground will also be affected by the brightness and flatness of the ground. Summary of the invention

[0003] The present application provides a vehicle welcome light display method and system based on holographic projection technology, which can solve the problem in the related art that the existing vehicle welcome light LOGO is affected by factors such as different brightness and uneven flatness of the ground and has a poor display effect.

[0004] In a first aspect, an embodiment of the present application provides a vehicle welcome light display method based on holographic projection technology, which includes: creating a three-dimensional scene model based on vehicle surrounding environment information; performing optical simulation based on the three-dimensional scene model around the vehicle to generate a holographic image; restoring the encoded holographic image to a three-dimensional image light wave; and projecting the three-dimensional image light wave onto the welcome light to complete the three-dimensional image projection.

[0005] In some embodiments, a three-dimensional scene model is created based on the vehicle's surrounding environment information, and the specific steps include: collecting point cloud data and image data of the vehicle's surrounding environment; fusing the point cloud data and image data to form a three-dimensional scene model.

[0006] In some embodiments, after collecting point cloud data and image data of the vehicle's surrounding environment and before fusing the point cloud data and image data, the method further includes: synchronizing the time stamps of the point cloud data and the image data; and performing noise reduction processing on the point cloud data and the image data.

[0007] In some embodiments, noise reduction processing is performed on the point cloud data and the image data, and the specific steps include: correcting the point cloud data and the image data using a filtering algorithm.

[0008] In some embodiments, the point cloud data includes distance information and position information of the object; and the image data includes appearance information and color information of the object.

[0009] In some embodiments, optical simulation is performed based on a three-dimensional scene model around the vehicle to generate a holographic image. The specific steps include: performing optical simulation on the three-dimensional scene model around the vehicle to form optical information; and generating a holographic image based on the optical information.

[0010] In some embodiments, the encoded holographic image is restored to a three-dimensional image light wave, and the specific steps include: encoding the holographic image; using a laser light source to illuminate the encoded holographic image; and the light wave of the laser light source passes through an optical element to generate a three-dimensional image light wave.

[0011] In some embodiments, a three-dimensional image light wave is projected onto a welcome light, and when the three-dimensional image projection is completed, the posture of the projection system is adjusted based on the vehicle's motion state.

[0012] In the second aspect, an embodiment of the present application provides a vehicle welcome light display system based on holographic projection technology, which includes: a first module, a second module, a third module and a fourth module, the first module is used to create a three-dimensional scene model based on the vehicle's surrounding environment information; the second module is used to perform optical simulation based on the three-dimensional scene model around the vehicle to generate a holographic image; the third module is used to restore the encoded holographic image to a three-dimensional image light wave; the fourth module is used to project the three-dimensional image light wave onto the welcome light to complete the three-dimensional image projection.

[0013] In some embodiments, the first module is also used to: collect point cloud data and image data of the vehicle's surrounding environment; and fuse the point cloud data and image data to form a three-dimensional scene model.

[0014] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0015] The embodiment of the present application provides a vehicle welcome light display method and system based on holographic projection technology, which creates a three-dimensional scene model through the vehicle's surrounding environment information to generate a holographic image, and then restores the holographic image to a three-dimensional image light wave and projects it onto the welcome light to complete the three-dimensional image projection. The holographic projection technology is used to make the projection three-dimensional and visible in space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flow chart of a vehicle welcome light display method provided in an embodiment of the present application;

[0018] Figure 2 A flowchart for creating a three-dimensional scene model based on vehicle surrounding environment information provided in an embodiment of the present application;

[0019] Figure 3A flow chart for generating a holographic image by performing optical simulation based on a three-dimensional scene model around a vehicle provided in an embodiment of the present application;

[0020] Figure 4 A light wave flow chart for restoring an encoded holographic image into a three-dimensional image is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The embodiment of the present application provides a vehicle welcome light display method and system based on holographic projection technology, which can solve the problem in the related art that the existing vehicle welcome light LOGO is affected by factors such as different brightness and uneven flatness of the ground and has a poor display effect.

[0023] In a first aspect, an embodiment of the present application provides a vehicle welcome light display method based on holographic projection technology, which includes:

[0024] 101: Create a three-dimensional scene model based on the vehicle's surrounding environment information;

[0025] 102: Perform optical simulation based on the three-dimensional scene model around the vehicle to generate a holographic image;

[0026] 103: restoring the encoded holographic image to a three-dimensional image light wave;

[0027] 104: Project the three-dimensional image light wave onto the welcome light to complete the three-dimensional image projection.

[0028] In this application, a three-dimensional scene model is created through the vehicle's surrounding environment information to generate a holographic image, which is then restored to a three-dimensional image light wave and projected onto a welcome light to complete the three-dimensional image projection. The holographic projection technology is used to make the projection three-dimensional and visible in space.

[0029] It should be noted that holographic technology, also known as virtual imaging technology, is a technology that uses the principles of interference and diffraction to record and reproduce the real three-dimensional image of an object;

[0030] Interference means that only when two coherent light sources have the same frequency, constant phase difference, and consistent vibration direction can light interference occur;

[0031] Diffraction refers to the phenomenon that light deviates from the straight-line propagation when it encounters an obstacle during propagation, which is called diffraction of light.

[0032] On the basis of the above embodiment, in this embodiment, a three-dimensional scene model is created based on the vehicle surrounding environment information, and the specific steps include step 1011 to step 1012:

[0033] Step 1011: Collect point cloud data and image data of the vehicle's surrounding environment.

[0034] Step 1012: Fuse the point cloud data and the image data to form a three-dimensional scene model.

[0035] In this embodiment, a data acquisition system is used to acquire point cloud data and image data of the vehicle's surroundings, wherein the data acquisition system includes but is not limited to a laser radar and a camera. The data acquisition system is mainly used to acquire distance information and position information of an object and generate point cloud data. Among them, the point cloud data is a collection of a large number of spatial sampling points collected by the laser radar, which accurately describes the geometric distribution of the object in space and the camera provides high-resolution color image data (including the appearance information and color information of the object) to ensure comprehensive and high-precision capture of the environment around the vehicle, a three-dimensional camera. Among them, the camera includes but is not limited to a three-dimensional camera, a depth camera, and a color camera.

[0036] Given that cameras can provide high-resolution color images but have relatively weak depth and distance information, while lidar can provide accurate depth and distance information but at a lower resolution, combining the data from both, by matching the lidar's depth and distance information point cloud with the camera's high-resolution image, an accurate, high-resolution 3D scene model can be created.

[0037] Therefore, in this embodiment, the laser radar obtains point cloud data of the vehicle's surrounding environment, wherein the point cloud data includes the distance information and position information of the object; it should be noted that the point cloud refers to a massive set of points that express the spatial distribution of the target and the spectral properties of the target surface in the same spatial reference system. It is a model geometric description composed of a series of spatial sampling points on the surface of the object model, and is also a common form of expression of three-dimensional laser scanning data.

[0038] The camera provides high-resolution color image data, wherein the image data includes appearance information and color information of the object.

[0039] Since the camera and lidar on the vehicle may be located at different positions and angles, for example, the lidar is located in the middle of the roof, and cameras are placed in front, behind, left, and right of the lidar; or the lidar is located in the middle of the roof, and cameras are placed in front, behind, left, and right of the vehicle. Therefore, the lidar and camera use different coordinate systems when collecting data. After the point cloud data and image data are collected, the coordinate systems of the camera and lidar need to be expressed in a common reference coordinate system when analyzing and calculating.

[0040] Therefore, it is necessary to use coordinate transformation to align the point cloud data obtained by the lidar and the image data of the camera into a common coordinate system. In other words, the point cloud data and image data are fused to complement each other for the low resolution of the lidar and the inability of the camera to obtain depth and distance information, forming a comprehensive three-dimensional scene model. In the three-dimensional scene model, each point has both distance information and position information provided by the lidar, and appearance information and color information provided by the camera.

[0041] In addition, in order to make the formed comprehensive three-dimensional point cloud model more accurate, after collecting the point cloud data and image data of the vehicle's surrounding environment and before fusing the point cloud data and image data, the setting method also includes:

[0042] The point cloud data and image data are time stamped and denoised. Specifically, when the lidar and camera collect point cloud data and image data respectively, the generated point cloud data and image data should be timestamped to indicate the data collection time. By synchronizing the timestamps of all point cloud data and image data, that is, using a clock synchronization mechanism to ensure that the timestamps of the point cloud data and image data are synchronized, corrections can be made even if there is hardware delay, ensuring that the point cloud data and image data are aligned in time.

[0043] After acquiring the point cloud data and image data, it is necessary to perform noise reduction on the point cloud data and image data. Noise reduction can remove outliers or noise that may exist in the LiDAR measurement. Outliers refer to extremely large and extremely small values ​​in a time series that are far from the general level of the series. Therefore, they are also called divergent values, and sometimes they are also called wild values.

[0044] Specifically, a filtering algorithm is used to correct the point cloud data and image data to reduce noise and errors, correct possible posture deviations, and ensure spatial consistency between the two.

[0045] The filtering algorithms include Kalman filtering algorithm, low-pass filtering algorithm, unidirectional filtering algorithm, etc. In this embodiment, Kalman filtering can be used for processing:

[0046] It should be noted that the core idea of ​​the Kalman filter algorithm is to perform a weighted average based on the "measured value" at this moment and the "predicted value" and "error" at the previous moment to obtain the optimal value at this moment, and predict the value at the next moment. That is, the process of combining prediction with actual measurement and correction. Among them, the error (noise) is the prediction error (the expectation of the previous moment for this moment)) and the measurement error (the actual measurement value at this moment), which exist independently and are not affected by the measurement data. The predicted value at the previous moment and the measured value at this moment are both normally distributed. Fusion of the two normal distributions can more accurately obtain the motion position.

[0047] In this embodiment, the distance value of the target object measured by the laser radar or camera is first obtained:

[0048] Data collection: First, the laser radar or camera collects the distance data of the target objects in the vehicle's surrounding environment. The laser radar can provide accurate depth and distance information and generate point cloud data; the camera can obtain the appearance image of the object and obtain the distance value through processing.

[0049] However, it should be noted that the distance data of LiDAR is more accurate, but the resolution is relatively low. The image resolution of the camera is high, but the distance information directly obtained is not as accurate as that of LiDAR.

[0050] Then calculate the speed based on the distance change of the target object:

[0051] Speed ​​calculation: After obtaining the distance data of the target object, the system needs to calculate the speed of the object by comparing the distance changes at adjacent moments.

[0052] For example, the distance of an object at time t is d(t), and the distance of an object at time t+1 is d(t+1).

[0053] The velocity v(t+1) of the target object at time t+1 can be calculated by the formula v(t+1)={d(t+1)-d(t)} / Δt, where Δt is the interval between adjacent time steps.

[0054] Acceleration calculation: The acceleration of an object can be further calculated by comparing the rate of change of velocity:

[0055] a(t+1)={Δtv(t+1)-v(t) / Δt;

[0056] This acceleration is used to predict the motion state of the target object at future moments.

[0057] And use the kinematic model to describe the motion state of the target object:

[0058] Kinematic model: In order to describe the motion state of the target object, a kinematic model needs to be established, which usually includes the object's velocity v and acceleration a.

[0059] The kinematic model includes a state vector (X): which can be expressed as (X(t) = [d(t), v(t), a(t)]^T), where (d(t)) represents the distance of the target object, v(t) represents the velocity, and a(t) represents the acceleration. This state vector describes the motion state of the target object at each moment.

[0060] It also includes the state equation: According to the kinematic principle of the object, the state equation can be used to predict the state of the target object at the future moment: X(t+1)=FX(t)+W(t);

[0061] Among them, F is the state transfer matrix, which is used to predict the state at the next moment; W(t) is the process noise, which represents the possible disturbance in the motion.

[0062] Then the motion state of the target object is predicted, including state prediction: according to the state X(t) at the current moment, the motion state of the target object at the next moment t+1 is predicted through the state equation.

[0063] The system predicts the distance, speed, and acceleration of the object at the next moment and obtains the predicted state X^(t+1).

[0064] It also includes error estimation: In the state prediction process, error estimation is particularly important. The system describes the errors in prediction and measurement through process noise W(t) and measurement noise V(t).

[0065] The predicted value is then corrected using the actual measured motion state:

[0066] Includes measurement updates: At each time step, the lidar or camera also measures the motion state of the target object again.

[0067] The system compares the actual measured motion state Z(t+1) with the predicted state X^(t+1) to determine the difference between the predicted value and the actual measured value.

[0068] Then calculate the Kalman gain: The Kalman gain K(t) is used to balance the weight between the predicted value and the measured value. The Kalman gain is calculated by the following formula:

[0069] K(t+1)={P(t+1|t)*H T} / HP(t+1|t)H T +R ＇ ,

[0070] Where P(t+1|t) is the prediction error covariance matrix, H is the observation matrix, and R＇ is the measurement noise covariance matrix.

[0071] The role of the Kalman gain is to adjust the correction degree of the predicted value according to the ratio of the prediction error to the measurement error. If the measurement error is large, the system will rely more on the predicted value; if the prediction error is large, it will rely more on the measurement value.

[0072] Then correct the predicted motion state:

[0073] Correcting the predicted motion state includes state correction: using the actual measured motion state Z(t+1) to correct the predicted motion state X^(t+1) to obtain an updated state estimate X(t+1):

[0074] X(t+1)=X^(t+1)+K(t+1)[Z(t+1)-HX^(t+1)].

[0075] The prediction error and measurement error are weighted by the Kalman gain, and the information of the two data sources is fused to more accurately estimate the motion state of the target object.

[0076] Finally update the status prediction model:

[0077] After obtaining a more accurate state estimate, the system will update the state covariance matrix P(t+1|t+1) to better predict the state at the next moment:

[0078] P(t+1|t+1)=(IK(t+1)H)P(t+1|t).

[0079] Ultimately, through continuous state prediction and correction, the Kalman filter can gradually improve the estimation accuracy of the motion state at each moment and adjust the vehicle's perception of surrounding objects in real time.

[0080] It has the following benefits:

[0081] Improve measurement accuracy: Kalman filtering gradually corrects the effect of noise on the data by combining predictions with actual measurements, thereby improving the estimation accuracy of the target object's distance, velocity, and acceleration.

[0082] Real-time update: The algorithm can update the motion status of target objects around the vehicle in real time to adapt to dynamic changes in the environment.

[0083] Multi-source fusion: Kalman filtering can fuse different types of data from lidar and cameras, making full use of the advantages of both and improving the accuracy of environmental perception.

[0084] The use of this algorithm can effectively reduce the impact of noise on estimation, improve the accuracy of distance measurement, and maintain real-time performance to adapt to the dynamic changes of the vehicle's motion state and the environment.

[0085] On the basis of the above-mentioned embodiment, in this embodiment, optical simulation is performed based on the three-dimensional scene model around the vehicle to generate a holographic image. The specific steps include step 1021 to step 1022:

[0086] Step 1021: performing optical simulation on the three-dimensional scene model around the vehicle to form accurate optical information;

[0087] Step 1022: Generate a holographic image based on the optical information.

[0088] Specifically, a holographic image is an optical encoding of three-dimensional scene information, which contains the optical information of an object. The characteristics of a holographic image are: it not only captures the shape of the object, but also captures the optical properties of the object, such as color and reflective properties.

[0089] It can be divided into six steps:

[0090] 1. 3D scene model creation. Based on the environmental information around the vehicle, a 3D scene model is first constructed to capture the spatial distribution and surface features of objects. This process involves the fusion of depth data (point cloud) provided by the lidar and high-resolution image data obtained by the camera.

[0091] 2. Select the viewpoint and calibrate the viewing angle. When displaying the holographic projection, the system will automatically select the appropriate viewpoint based on the driver's visual angle. The viewpoint simulates the best viewing position of the human eye. Usually the driver's seat or other key positions are selected as references to ensure that the projected image looks the most realistic from the driver's perspective.

[0092] -Dynamic viewpoint calibration: To enhance visual immersion, the system can automatically adjust the projection viewpoint according to the driver's movement to keep the holographic image in the best observation effect.

[0093] 3. Optical simulation and holographic image generation. Through optical simulation technology, the process of light reflecting from different object surfaces in a three-dimensional scene to the viewpoint is simulated. This process needs to take into account the refraction, reflection, scattering and other phenomena of light to accurately simulate the behavior of light in space.

[0094] -Holographic image generation: After the optical simulation is completed, the generated holographic image is a light wave interference image based on the physical scene, which contains the depth, texture and light information of the scene objects.

[0095] 4. Holographic image restoration and three-dimensional light wave projection. The encoded holographic image is restored to a three-dimensional light wave. The light wave represents the light propagation path of the object in space, so that a three-dimensional image is projected on the welcome light.

[0096] -Light wave restoration: Through the reverse light wave interference decoding technology, the holographic image is converted into a three-dimensional image light wave.

[0097] 5. Welcome light projection. Finally, these three-dimensional image light waves are projected into the space around the vehicle through the welcome light to achieve holographic projection of three-dimensional stereoscopic images. This projection method makes the image appear three-dimensional in space, and the driver and other observers can perceive the depth and details of the image from different angles.

[0098] 6. Dynamic environment adaptation. When the vehicle is in motion, the system can perceive the dynamic changes of the environment in real time and automatically adjust the projection according to the changes to ensure that the holographic image always remains stable and clear.

[0099] It should be noted that the process of automatically adjusting and calibrating the holographic image according to the driver's visual capture can be achieved by the following steps:

[0100] First, the driver's eye position data is captured through the vehicle-mounted visual sensor or driver monitoring system (DMS); then the driver's eye position data captured by the sensor or driver monitoring system is processed in real time through a multi-image processor to accurately calculate the driver's visual focus and position; then, according to the driver's visual focus and position, the projection position and angle of the holographic projection system light source are automatically adjusted, which can be achieved by controlling the holographic lens or the mechanical components of the projection system through the ECU; then the driver's eye position data is fed back and corrected in real time to ensure that the adjustment of the holographic image meets the driver's visual needs; by receiving the dynamically changing driver's eye position data, the projection position and angle of the holographic projection system light source are adjusted in real time, thereby ensuring that the holographic image is always in the best visible position.

[0101] Through the above steps, the holographic projection system can achieve automatic adjustment and calibration based on the driver's visual capture to ensure that the driver can view the holographic image clearly and comfortably.

[0102] The steps for generating a hologram are as follows: the set welcome logo is formed into a diffuse object beam under laser irradiation; another part of the laser is shot onto the holographic film as a reference beam, superimposed with the object beam to produce interference, and the phase and amplitude of each point on the object light wave are converted into a spatially varying intensity, so as to record all the information of the object light wave by using the contrast and interval between the interference fringes. After the film on which the interference fringes are recorded by the computer undergoes development, fixing and other processing procedures, it becomes a hologram.

[0103] On the basis of the above embodiment, in this embodiment, the encoded holographic image is restored to a three-dimensional image light wave, and the specific steps include step 1031 to step 1033:

[0104] Step 1031: Encode the holographic image;

[0105] Step 1032: using a laser light source to illuminate the encoded holographic image;

[0106] Step 1033: The light waves of the laser light source pass through the optical element to generate three-dimensional image light waves.

[0107] Specifically, the holographic image will be encoded so that it can be transmitted to the welcome light, and then the laser light source of the projection device is used to illuminate the encoded holographic image. At this time, the laser light source is divided into two parts: one for illuminating the holographic plate and the other for forming a reference wave. The specific steps are:

[0108] First, the generated holographic image is usually encoded using digital coding technology. Digital coding technology may include using digital signal processing algorithms to convert image information into a form suitable for transmission and display. Then a laser light source is used to illuminate the encoded holographic image. At this time, the laser light source is usually divided into two parts: one for illuminating the holographic plate and the other for forming a reference wave. After the light wave of the laser light source passes through the holographic plate (the holographic plate is a special optical element, usually made of photosensitive material), it will interfere with the reference wave to form an interference light wave, thereby restoring the optical information to a three-dimensional image light wave.

[0109] On the basis of the above embodiment, in this embodiment, the three-dimensional image light wave is projected onto the welcome light to complete the three-dimensional image projection, specifically:

[0110] The restored three-dimensional image light waves are again projected onto the welcome light through the holographic panel.

[0111] At the same time, under the irradiation of coherent laser, the diffracted light waves of a linearly recorded sinusoidal hologram can generally give two images, namely the original image (also called the initial image) and the conjugate image. The reproduced image has a strong three-dimensional sense and a real visual effect. Because each part of the hologram records the light information of each point on the object, the three-dimensional corporate logo can be completely formed through the imaging process and can be displayed in space.

[0112] Furthermore, in order to adapt to different viewing angles and vehicle motion states, the holographic image needs to be automatically adjusted and calibrated according to the driver's visual capture in real time to ensure that the holographic image is clearly visible in the driver's eyes.

[0113] The three-dimensional image light wave is projected onto the welcome light. When the three-dimensional image projection is completed, the projection system posture is adjusted based on the vehicle's motion state to ensure the projection direction and angle so that the generated three-dimensional image is visible at the appropriate position. Specifically, sensors or measuring tools are used to ensure that the position and angle of the holographic lens match the vehicle's welcome light and the position of the observer, wherein the holographic lens is a mechanical component in the projection system, and the holographic lens is used to refract and reflect the three-dimensional image light wave so that the light wave forms the final image. "Matching" here means that the driver's eyes are in the best position to see the three-dimensional image emitted by the welcome light by adjusting the position and angle of the holographic lens; in order to adapt to changes in the vehicle's motion state and observation angle, the projection system needs to be adjusted and calibrated in real time, and sensor feedback or visual systems can be used to monitor the vehicle's motion and the position of the welcome light for real-time adjustment; and the beam of the laser light source or other light source is controlled to ensure that its brightness is strong enough to display a clear holographic image under various ambient light conditions; at the same time, computer graphics technology is used on the welcome light to render and process the real-time generated holographic image, and ensure real-time performance, so that the system can respond quickly to environmental changes and vehicle movement.

[0114] In summary, holographic projection technology makes the welcome light three-dimensional and visible in space. It can enhance the personalized welcome experience: holographic three-dimensional projection technology enables vehicles to welcome drivers and passengers in a more creative and personalized way; it can provide a unique personalized welcome experience by displaying customized welcome messages, signs or logos on the outside of the vehicle.

[0115] In addition, this method can also be used for information transmission and notification: the holographic projection on the welcome light can be used to convey important information to the driver and passengers, such as vehicle status, charging status or road condition warning: some warning image symbols are pre-made in advance (such as low battery warning, charging, driving), and stored in the projection system in the form of data after processing. When the vehicle is in the preset scene, the ECU sends a signal command, and the corresponding preset scene symbol is projected, which plays the role of transmitting vehicle information. This helps to improve the practicality and safety of the vehicle, enhance visibility, and improve driving safety.

[0116] At the same time, it can enhance interactivity and user experience: the projection system on the welcome light and the driver (passenger) detection system can also be integrated into the vehicle's multi-source image perception system: the driver (passenger) detection system (D(O)MS) realizes the interaction between passengers and the car by using various sensors, cameras and other perception technologies, as well as the human-computer interaction interface. Its principles are as follows:

[0117] Human detection sensors: OMS systems are usually equipped with human detection sensors that detect the presence and location of passengers in the vehicle. These sensors can use technologies such as infrared, microwave or ultrasonic to sense the location and movement of passengers.

[0118] Camera monitoring: The system includes built-in cameras for real-time monitoring of the situation inside the vehicle. These cameras can be used to identify the position, posture and expression of passengers, as well as monitor their behavior to provide more precise interactive information.

[0119] Voice recognition and voice commands: OMS systems usually integrate voice recognition technology, allowing passengers to interact with the vehicle through voice. Passengers can use voice commands to control various functions of the vehicle, such as adjusting the temperature, opening the sunroof, navigation, etc.

[0120] Personalized settings and feedback: The OMS system can provide personalized settings and feedback based on passengers’ preferences and habits. For example, the system can remember passengers’ seat preferences, music preferences and other information and make automatic adjustments when necessary.

[0121] Some instructions in the driver (passenger) detection system can be preset in the form of images on the projection system of the welcome light. For example, when a passenger makes an OK gesture, the driver (passenger) detection system will transmit the collected signal to the projection system, and the projection system will display the expression image received by the person (preset scene image in advance), so that passengers can interact with the holographic projection system.

[0122] In addition, the holographic image of the present application can be adaptively adjusted according to the conditions of the vehicle's surrounding environment, that is, the visibility of the holographic image is ensured by adjusting the intensity and color of the light source to ensure that it remains visible under different lighting conditions.

[0123] Furthermore, it can also be used for brand promotion and advertising: car manufacturers can use holographic projection on welcome lights to convey brand information, advertisements or specific themes to improve vehicle brand awareness. It can also enhance reality navigation, vehicle identification and more interactive functions to enhance the intelligence and attractiveness of the vehicle.

[0124] In summary, the use of holographic 3D projection technology for the vehicle's welcome light display not only provides a more eye-catching vehicle appearance, but also increases the practicality, safety and interactivity of the vehicle. This can improve the user experience, increase the attractiveness of the vehicle, and help improve the brand image.

[0125] In the second aspect, an embodiment of the present application provides a vehicle welcome light display system based on holographic projection technology, which includes: a first module, a second module, a third module and a fourth module; the first module is used to create a three-dimensional scene model based on the vehicle's surrounding environment information; the second module is used to perform optical simulation based on the three-dimensional scene model around the vehicle to generate a holographic image; the third module is used to restore the encoded holographic image to a three-dimensional image light wave; the fourth module is used to project the three-dimensional image light wave onto the welcome light to complete the three-dimensional image projection.

[0126] In this application, a three-dimensional scene model is created through the vehicle's surrounding environment information to generate a holographic image, which is then restored to a three-dimensional image light wave and projected onto a welcome light to complete the three-dimensional image projection. The holographic projection technology is used to make the projection three-dimensional and visible in space.

[0127] Among them, the first module is also used to: collect point cloud data and image data of the vehicle's surrounding environment; fuse the point cloud data and image data to form a three-dimensional scene model.

[0128] The functional implementation of each module in the above-mentioned vehicle welcome light display system corresponds to the various steps in the above-mentioned vehicle welcome light display method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0129] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0130] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0131] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A vehicle welcome light display method based on holographic projection technology, characterized in that: It includes: Create a three-dimensional scene model based on the vehicle's surrounding environment information; Perform optical simulation based on the three-dimensional scene model around the vehicle to generate a holographic image; Restoring the encoded holographic image into a three-dimensional image light wave; The three-dimensional image light wave is projected onto the welcome light to complete the three-dimensional image projection.

2. The vehicle welcome light display method based on holographic projection technology as claimed in claim 1, characterized in that: Create a 3D scene model based on the vehicle's surrounding environment information. The specific steps include: Collect point cloud data and image data of the vehicle's surroundings; The point cloud data and image data are integrated to form a three-dimensional scene model.

3. The vehicle welcome light display method based on holographic projection technology as claimed in claim 2, characterized in that: After collecting the point cloud data and the image data of the vehicle's surrounding environment, and before fusing the point cloud data and the image data, the method further includes: Synchronize the time stamps of point cloud data and image data; Perform noise reduction on point cloud data and image data.

4. The vehicle welcome light display method based on holographic projection technology as claimed in claim 3, characterized in that: The point cloud data and image data are subjected to noise reduction processing. The specific steps include: Use filtering algorithms to correct point cloud data and image data.

5. The vehicle welcome light display method based on holographic projection technology as claimed in claim 3, characterized in that: The point cloud data includes distance information and position information of the object; The image data includes appearance information and color information of the object.

6. The vehicle welcome light display method based on holographic projection technology as claimed in claim 1, characterized in that: Based on the three-dimensional scene model around the vehicle, optical simulation is performed to generate a holographic image. The specific steps include: Perform optical simulation on the three-dimensional scene model around the vehicle to form optical information; A holographic image is generated based on the optical information.

7. The vehicle welcome light display method based on holographic projection technology as claimed in claim 1, characterized in that: The encoded holographic image is restored to a three-dimensional image light wave, and the specific steps include: Encoding the holographic image; Using a laser light source to illuminate the encoded holographic image; The light waves of the laser light source pass through optical elements to generate three-dimensional image light waves.

8. The vehicle welcome light display method based on holographic projection technology as claimed in claim 1, characterized in that: The three-dimensional image light waves are projected onto the welcome light. When the three-dimensional image projection is completed, the projection system posture is adjusted based on the vehicle's motion state.

9. A vehicle welcome light display system based on holographic projection technology, characterized in that: It includes: The first module is used to create a three-dimensional scene model based on the vehicle's surrounding environment information; The second module is used to generate a holographic image by performing optical simulation based on a three-dimensional scene model around the vehicle; The third module: used to restore the encoded holographic image into a three-dimensional image light wave; The fourth module is used to project the three-dimensional image light waves onto the welcome light to complete the three-dimensional image projection.

10. The vehicle welcome light display system based on holographic projection technology as claimed in claim 9, characterized in that: The first module is also used to: collect point cloud data and image data of the vehicle's surrounding environment; and fuse the point cloud data and image data to form a three-dimensional scene model.

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