Vehicle, vehicle control method and intelligent driving control unit

Abstract

The invention discloses a vehicle, a vehicle control method and an intelligent driving control unit, relates to the technical field of intelligent vehicles, and solves the problems of complex link topology, long data transmission link and high time delay of data transmission of an intelligent headlamp in a current vehicle. The vehicle comprises at least one sensor, an intelligent driving control unit and a driving projection device. The output end of the at least one sensor is coupled with the input end of the intelligent driving control unit, and the first output end of the intelligent driving control unit is coupled with the first input end of the driving projection device. The at least one sensor generates external environment data according to the external environment of the vehicle and sends the external environment data to the intelligent driving control unit, and the intelligent driving control unit generates projection image data according to the external environment data and sends the projection image data to the driving projection device. And driving the projection device to output a projection image according to the projection image data.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a vehicle, a vehicle control method, and an intelligent driving control unit. Background Art

[0002] As vehicles continue to move toward electrification, intelligence, networking, and sharing, the user's driving experience continues to improve. Specifically, a vehicle may include a smart headlamp that can achieve functions such as safety lighting, smart driving assistance, and entertainment interaction, thereby improving the user's driving experience.

[0003] However, the link topology of smart headlights in vehicles is currently complex, the data transmission link is long, and the data transmission delay is high. Summary of the invention

[0004] The present application provides a vehicle, a vehicle control method and an intelligent driving control unit, which solve the problems of complex link topology, long data transmission link and high data transmission delay of the current intelligent headlights in vehicles.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a vehicle, which includes at least one sensor, an intelligent driving control unit, and a driving projection device, wherein the output end of at least one sensor is coupled to the input end of the intelligent driving control unit, and the first output end of the intelligent driving control unit is coupled to the first input end of the driving projection device. At least one sensor generates external environment data according to the external environment of the vehicle, and sends the external environment data to the intelligent driving control unit. The intelligent driving control unit generates projection image data according to the external environment data, and sends the projection image data to the driving projection device. The driving projection device outputs a projection image according to the projection image data.

[0007] Optionally, the vehicle may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. The vehicle is a vehicle in a broad sense. For example, the vehicle may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, an airplane, a ship, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The application does not specifically limit the type of vehicle. Optionally, the projected image can be used to achieve lighting enhancement, assisted driving, light blankets and multimedia, etc. The specific functions that can be achieved by the projected image can refer to the prior art, and the application does not limit this.

[0008] Based on the present solution, external environment data is generated by at least one sensor, and the intelligent driving control unit generates projection image data according to the external environment data and sends it to the driving projection device, so that the driving projection device outputs the projection image according to the projection image data. Compared with the prior art vehicle, in which the external environment of the vehicle is photographed by a camera to generate an external environment image, the CDC generates projection image data according to the external environment image, and sends the projection image data to the SoC in the HCM, and the SoC transmits the projection image data to the left DMD and the right DMD through a serializer, so that the left DMD and the right DMD output the projection image according to the projection image data, the link topology is simpler, the data transmission link is shorter, and the data transmission delay can be reduced.

[0009] In combination with the first aspect, in a possible implementation manner, the vehicle further includes a vehicle control unit, and the vehicle control unit controls and drives the projection device to output a projection image according to the projection image data.

[0010] In combination with the first aspect, in a possible implementation, the input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The intelligent driving control unit also outputs a first control signal, and the vehicle control unit outputs a second control signal according to the first control signal, and the second control signal controls the driving projection device to output a projection image according to the projection image data.

[0011] In combination with the first aspect, in a possible implementation, the intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled with the input end of the intelligent driving control unit, the output end of the system-level chip is coupled with the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled with the second output end of the intelligent driving control unit. The system-level chip generates projection image data according to external environment data. The microprocessor outputs a third control signal, and the third control signal controls the driving projection device to output a projection image according to the projection image data.

[0012] Based on this solution, the vehicle control unit can control the driving projection device to output the projection image according to the projection image data, or the intelligent driving control unit can control the driving projection device to output the projection image according to the projection image data, and the control solution is more flexible. Moreover, when the vehicle control unit fails, the intelligent driving control unit can control the driving projection device to output the projection image, which can improve reliability.

[0013] In combination with the first aspect, in a possible implementation, the driving projection device includes a driving circuit and a projection circuit, wherein an output end of the driving circuit is coupled to an input end of the projection circuit. The driving circuit receives a control signal and generates a driving signal according to the control signal. The projection circuit is driven by the driving signal to output a projection image according to projection image data.

[0014] In combination with the first aspect, in a possible implementation manner, the projection circuit includes a headlight of a vehicle.

[0015] In combination with the first aspect, in a possible implementation, the vehicle further includes a plurality of controller area network buses, and the plurality of controller area network buses are coupled to the second output terminal of the intelligent driving control unit. The intelligent driving control unit further receives the driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through the plurality of controller area network buses to control the vehicle.

[0016] In combination with the first aspect, in a possible implementation, the multiple controller area network buses include a chassis controller area network bus, a chassis redundant controller area network bus, and a power controller area network bus.

[0017] In combination with the first aspect, in a possible implementation manner, the at least one sensor includes at least one of a camera, a microwave radar, and a lidar.

[0018] The second aspect of the present application provides a vehicle control method, the vehicle includes at least one sensor, an intelligent driving control unit and a drive projection device, the output end of at least one sensor is coupled to the input end of the intelligent driving control unit, the first output end of the intelligent driving control unit is coupled to the first input end of the drive projection device, the method includes: at least one sensor generates external environment data according to the external environment of the vehicle, and sends the external environment data to the intelligent driving control unit. The intelligent driving control unit generates projection image data according to the external environment data, and sends the projection image data to the drive projection device. The drive projection device outputs a projection image according to the projection image data.

[0019] In combination with the second aspect, in a possible implementation, the vehicle further includes a vehicle control unit, and driving the projection device to output the projection image according to the projection image data includes: driving the projection device to output the projection image according to the projection image data under the control of the vehicle control unit.

[0020] In combination with the second aspect, in a possible implementation, the input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The method also includes: the intelligent driving control unit outputs a first control signal, the vehicle control unit outputs a second control signal based on the first control signal, and the second control signal controls the driving projection device to output a projection image based on the projection image data.

[0021] In combination with the second aspect, in a possible implementation, the intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled to the input end of the intelligent driving control unit, the output end of the system-level chip is coupled to the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled to the second output end of the intelligent driving control unit. The above-mentioned intelligent driving control unit generates projection image data according to external environment data, including: the system-level chip generates projection image data according to external environment data; the above-mentioned driving projection device to output the projection image according to the projection image data includes: driving the projection device to output the projection image according to the projection image data under the control of the third control signal output by the microprocessor.

[0022] In combination with the second aspect, in a possible implementation, the driven projection device includes a driving circuit and a projection circuit, the output end of the driving circuit is coupled to the input end of the projection circuit, and the above-mentioned driven projection device outputs a projection image according to the projection image data, including: the driving circuit receives a control signal, generates a driving signal according to the control signal, and the projection circuit outputs a projection image according to the projection image data under the drive of the driving signal.

[0023] In combination with the second aspect, in a possible implementation, the vehicle also includes multiple controller area network buses, and the multiple controller area network buses are coupled to the second output end of the intelligent driving control unit. The method also includes: when the vehicle control unit fails, the intelligent driving control unit receives a driving signal, generates a driving control signal based on the driving signal, and sends the driving control signal through multiple controller area network buses to control the vehicle.

[0024] According to a third aspect of the present application, an intelligent driving control unit is provided, wherein an input end of the intelligent driving control unit is coupled to an output end of at least one sensor, a first output end of the intelligent driving control unit is coupled to a first input end of a driving projection device, and the intelligent driving control unit receives external environment data, the external environment data is generated by at least one sensor according to an external environment of the vehicle, determines projection image data according to the external environment data, and sends the projection image data to the driving projection device, so that the driving projection device outputs a projection image according to the projection image data.

[0025] In conjunction with the third aspect, in a possible implementation, the second output terminal of the intelligent driving control unit is coupled to the input terminal of the vehicle control unit, and the output terminal of the vehicle control unit is coupled to the second input terminal of the driving projection device. The intelligent driving control unit also outputs a first control signal, the first control signal controls the vehicle control unit to output a second control signal, and the second control signal controls the driving projection device to output a projection image according to the projection image data.

[0026] In conjunction with the third aspect, in a possible implementation, the intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled to the first input end of the intelligent driving control unit, the output end of the system-level chip is coupled to the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled to the second output end of the intelligent driving control unit. The system-level chip generates projection image data according to external environment data, and the microprocessor outputs a third control signal, and the third control signal controls the driving projection device to output a projection image according to the projection image data.

[0027] In conjunction with the third aspect, in a possible implementation, the second output terminal of the intelligent driving control unit is coupled to a plurality of controller area network buses. The intelligent driving control unit also receives a driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through the plurality of controller area network buses to control the vehicle.

[0028] In a fourth aspect, the present application provides an intelligent driving control method, which can be applied to an intelligent driving control unit. The input end of the intelligent driving control unit is coupled to the output end of at least one sensor, and the first output end of the intelligent driving control unit is coupled to the first input end of the driving projection device. The method includes: receiving external environment data, the external environment data is generated by at least one sensor according to the external environment of the vehicle. According to the external environment data, the projection image data is determined, and the projection image data is sent to the driving projection device, so that the driving projection device outputs the projection image according to the projection image data.

[0029] In combination with the fourth aspect, in a possible implementation, the second output end of the intelligent driving control unit is coupled to the input end of the vehicle control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The method also includes: outputting a first control signal, the first control signal controls the vehicle control unit to output a second control signal, and the second control signal controls the driving projection device to output a projection image according to the projection image data.

[0030] In combination with the fourth aspect, in a possible implementation, the intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled to the first input end of the intelligent driving control unit, the output end of the system-level chip is coupled to the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled to the second output end of the intelligent driving control unit. The above-mentioned determination of the projection image data based on the external environment data includes: the system-level chip generates the projection image data according to the external environment data. The method also includes: the microprocessor outputs a third control signal, and the third control signal controls the driving projection device to output the projection image according to the projection image data.

[0031] In combination with the fourth aspect, in one possible implementation, the second output end of the intelligent driving control unit is coupled to multiple controller area network buses, and the method also includes: receiving a driving signal, generating a driving control signal based on the driving signal, and sending the driving control signal through multiple controller area network buses to control the vehicle.

[0032] The descriptions of the second to fourth aspects of the present application can refer to the detailed description of the first aspect; and the beneficial effects described in the second to fourth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the structure of a vehicle;

[0034] Figure 2 is a schematic diagram of the structure of another vehicle;

[0035] Figure 3 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a vehicle projection image provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application;

[0040] Figure 8 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application;

[0041] Fig. 9 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application;

[0042] Fig.10 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0043] Fig.11 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0044] Fig.12 A flowchart of an intelligent driving control method provided in an embodiment of the present application;

[0045] Fig.13 A flowchart of another intelligent driving control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will discuss the making and use of each embodiment in detail. However, it should be understood that many applicable inventive concepts provided by this application can be implemented in a variety of specific environments. The specific embodiments discussed are only used to illustrate the specific ways to implement and use this description and this technology, and do not limit the scope of this application.

[0047] Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art.

[0048] Various circuits or other components may be described or referred to as being "configured to" perform one or more tasks. In this case, "configured to" is used to imply structure by indicating that the circuit / component includes structure (e.g., circuitry) that performs the one or more tasks during operation. Thus, even when the specified circuit / component is not currently operational (e.g., not turned on), the circuit / component may be referred to as being configured to perform the task. Circuits / components used with the phrase "configured to" include hardware, such as circuits that perform an operation, etc.

[0049] The technical scheme in the embodiment of the present application will be described below in conjunction with the accompanying drawings in the embodiment of the present application. In the present application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there may be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or its similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c or a, b and c, where a, b and c can be single or multiple. In addition, in the embodiment of the present application, the words "first", "second" and the like do not limit the quantity and order.

[0050] In this application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "exemplary" or "for example" is intended to present the related concepts in a concrete way.

[0051] Before introducing the embodiments of the present application, the technical terms and background technologies involved in the present application are first introduced.

[0052] Headlamp control module (HCM): an electronic device used to control the vehicle's headlights. The headlamp control module is used to control the switch and brightness of the vehicle's headlights based on the vehicle's speed, engine status, steering wheel rotation, and signals from other vehicle sensors to provide appropriate lighting conditions.

[0053] Light emitting diode driver module (LDM): used to provide current / voltage to light up the LED. It can also adjust the brightness, color temperature, color and other parameters of the LED to meet different lighting needs.

[0054] Digital micromirror device (DMD): a micro-electromechanical system with electronic input and optical output, also known as a projection module, used to output projected images.

[0055] CAN with flexible data rate (CAN FD): is an extension protocol based on the controller area network (CAN) bus that increases data length, speed and reliability and allows a smooth transition to higher speed networks.

[0056] Automotive Ethernet: is a physical network used to connect various electrical devices in a vehicle.

[0057] Cockpit domain controller (CDC): It is an important component of smart vehicles and is responsible for managing and coordinating on-board devices, such as microphones and speakers, to realize cockpit entertainment functions and provide users with a more comfortable, convenient and safe driving experience.

[0058] System-on-chip (SoC): An integrated circuit that integrates multiple functions on one chip, including multiple processors, memory, interfaces and other functional modules.

[0059] Gyroscope: A sensor used to measure angular velocity and angular displacement, commonly used in aerospace, automotive, and gaming.

[0060] Microcontroller unit (MCU): A single-chip system that integrates a microcontroller, memory, input / output interface and other functions. It can also be called a microprocessor.

[0061] Serializer / Deserializer (SerDes): is an interface circuit for high-speed data communication.

[0062] KL15 (klemme15): is the engine ignition signal, where klemme can be understood as a pin.

[0063] Level L3: Level 3 autonomous driving means that in a specific environment, the vehicle can automatically complete driving operations, surrounding environment monitoring and other actions, and does not require the driver to operate it himself. However, during the vehicle's autonomous driving process, the driver needs to stay focused and be ready to take over the vehicle at any time to deal with situations that the autonomous driving system cannot handle.

[0064] Intelligent driving control unit: It is one of the core components of intelligent driving. The intelligent driving control unit can perform real-time environmental modeling based on sensor fusion information, plan and generate the vehicle's motion path, and control the vehicle to move automatically to the corresponding position without collision.

[0065] Radio detection and ranging (radar): can also be called radar, or microwave radar.

[0066] Inertial measurement unit (IMU): is a device that measures the three-axis attitude angle and acceleration of an object. Generally, an IMU includes a three-axis gyroscope and a three-axis accelerometer, and some IMUs also include a three-axis magnetometer.

[0067] Vehicle Control Unit (VCU): The core unit of vehicle control, responsible for monitoring the vehicle status and the driver's instructions, and adjusting various vehicle parameters such as speed, acceleration, braking, steering, etc. based on this information to achieve stable, safe and efficient operation of the vehicle. The vehicle control unit is also responsible for managing and optimizing the energy flow of the vehicle to ensure that the vehicle operates at optimal efficiency and economy. In addition, the vehicle control unit also has fault diagnosis and safety protection functions, which can monitor and diagnose the status of the vehicle in real time and take corresponding measures to avoid or mitigate potential safety risks.

[0068] Network switching chip: used for network communication of vehicle components.

[0069] Chassis controller LAN bus: also known as chassis CAN bus, chassis controller LAN bus is a communication bus in the vehicle electronic control system, used to transmit data and instructions of the chassis control module.

[0070] Chassis Redundant Controller Area Network Bus: Also known as a chassis redundant CAN bus, a chassis redundant Controller Area Network bus is another type of CAN bus used on vehicles. The chassis redundant Controller Area Network bus is used to ensure that the vehicle's electronic control systems can still operate normally when the primary CAN bus fails.

[0071] Power Controller Area Network Bus: Also known as the Power CAN Bus, it is used to transmit data and instructions of control modules related to vehicle power, such as the engine, transmission, and brake system.

[0072] As vehicles continue to move toward electrification, intelligence, networking, and sharing, the user's driving experience continues to improve. Specifically, a vehicle may include smart headlights that can achieve functions such as safety lighting, smart driving assistance, and entertainment interaction, thereby improving the user's driving experience.

[0073] like Figure 1The figure shows a schematic diagram of the structure of a vehicle 100, which includes a vehicle machine 110, an HCM 120, a left LDM 130, a right LDM 140, a left DMD 150 and a right DMD 160. The output end of the vehicle machine 110 is coupled to the input end of the HCM 120 through the CAN FD bus, the data signal line and the vehicle Ethernet. The output end of the HCM 120 is coupled to the input end of the left LDM 130 and the input end of the right LDM 140 through the CAN bus and the power enable signal line. The left LDM 130 is also coupled to the power supply through the power line, and the output end of the left LDM 130 is coupled to the input end of the left DMD 150 through the power line and the power enable signal line. The right LDM 140 is also coupled to the power supply through the power line, and the output end of the right LDM 140 is coupled to the input end of the right DMD 160 through the power line and the power enable signal line. The left DMD 150 and the right DMD 160 serve as intelligent headlights of the vehicle 100 and output projection images, thereby realizing functions such as safety lighting, intelligent driving assistance, and entertainment interaction.

[0074] The vehicle computer 110 is used to realize information communication between the user and the vehicle 100, or between the vehicle 100 and the outside world. The HCM 120 generates a control signal and a power enable signal, and sends the control signal and the power enable signal to the left LDM 130 and the right LDM 140. The left LDM 130 generates a first drive signal under the control of the control signal and the power enable signal, and the left DMD 150 outputs a projection image under the drive of the first drive signal. The right LDM 140 generates a second drive signal under the control of the control signal and the power enable signal, and the right DMD 160 outputs a projection image under the drive of the second drive signal.

[0075] like Figure 2 As shown, the vehicle 100 may further include a camera 170 disposed outside the vehicle 100, and the vehicle computer 110 may include a CDC 111. The output end of the camera 170 is coupled to the input end of the CDC 111, and the output end of the CDC 111 is coupled to the input end of the HCM 120. The camera 170 is used to capture the external environment of the vehicle 100 and generate an external environment image, and the CDC 111 is used to generate projection image data according to the external environment image and send the projection image data to the HCM 120.

[0076] Specifically, the HCM 120 includes a SoC 121, a gyroscope 122, a deserializer 123, a serializer 124, an MCU 125, and a direct current-direct current (DC-DC) conversion circuit 126. The output end of the deserializer 123 and the output end of the gyroscope 122 are coupled to the input end of the SoC 121, the output end of the SoC 121 is coupled to the input end of the serializer 124, and the SoC 121 is also coupled to the MCU 125. The input end of the DC-DC conversion circuit 126 is coupled to the output end of the CDC 111, and is used to receive the KL15 signal and the power supply voltage output by the CDC 111, and perform voltage conversion on the power supply voltage to supply power to various devices in the HCM 120.

[0077] The CDC 111 includes a serializer 1111, and the CDC 111 is coupled to the SoC 121 in the HCM 120 via an Ethernet port (ETH). The serializer 1111 in the CDC 111 is coupled to the deserializer 123 in the HCM 120 to send the above-mentioned projection image data to the SoC 121. The CDC 111 is also coupled to the MCU 125 in the HCM 120 via a CAN bus to send a control signal to the MCU 125, and the MCU 125 can send a control signal to the left LDM 130 and the right LDM 140 according to the control signal.

[0078] The left LDM 130 includes an MCU 131 and a DC-DC conversion circuit 132, and the right LDM 140 includes an MCU 141 and a DC-DC conversion circuit 142. The MCU 125 in the HCM 120 is coupled to the MCU 131 and the MCU 141 through a CAN bus to send control signals to the MCU 131 and the MCU 141. The MCU 125 in the HCM 120 is also coupled to the DC-DC conversion circuit 132 and the DC-DC conversion circuit 142 through a general purpose input output (GPIO) interface to send a power enable signal to the DC-DC conversion circuit 132 and the DC-DC conversion circuit 142. The DC-DC conversion circuit 132 and the DC-DC conversion circuit 142 are also coupled to a power source through a power line for voltage conversion to supply power to various devices in the left LDM 130 and the right LDM 140.

[0079] The left DMD 150 includes a serializer 151, a controller 152, a projection module 153, and a DC-DC conversion circuit 154. The output end of the serializer 151 is coupled to the input end of the controller 152, and the output end of the controller 152 is coupled to the input end of the projection module 153. The output end of the MCU 131 in the left LDM 130 is coupled to the input end of the controller 152 through an inter-integrated circuit (I2C) bus or a serial peripheral interface (SPI) bus to send a control signal to the controller 152. The output end of the serializer 124 in the HCM 120 is coupled to the serializer 151 in the left DMD 150 to send projection image data to the left DMD 150, so that the projection module 153 outputs a projection image according to the projection image data. The DC-DC conversion circuit 154 is coupled to the MCU 131 in the left LDM 130 through a power enable signal line to receive a power enable signal sent by the MCU 131. The DC-DC conversion circuit 154 is also coupled to the power supply through a power line to perform voltage conversion to supply power to various devices in the left DMD 150.

[0080] The right DMD 160 includes a serializer 161, a controller 162, a projection module 163, and a DC-DC conversion circuit 164. The output end of the serializer 161 is coupled to the input end of the controller 162, and the output end of the controller 162 is coupled to the input end of the projection module 163. The output end of the MCU 141 in the right LDM 140 is coupled to the input end of the controller 162 via an I2C bus or an SPI bus to send a control signal to the controller 162. The output end of the serializer 124 in the HCM 120 is coupled to the serializer 161 in the right DMD 160 to send projection image data to the right DMD 160, so that the projection module 163 outputs a projection image according to the projection image data. The DC-DC conversion circuit 164 is coupled to the MCU 141 in the right LDM 140 through a power enable signal line to receive a power enable signal sent by the MCU 141. The DC-DC conversion circuit 164 is also coupled to the power supply through a power line to perform voltage conversion to supply power to various devices in the right DMD 160.

[0081] It can be understood that the external environment of the vehicle 100 is photographed by the camera 170 to generate an external environment image. The CDC 111 can generate projection image data based on the external environment image and send the projection image data to the SoC 121 in the HCM 120. The SoC 121 transmits the projection image data to the left DMD 150 and the right DMD 160 through the serializer 124, so that the left DMD 150 and the right DMD 160 output the projection image according to the projection image data, thereby realizing functions such as safety lighting, intelligent driving assistance and entertainment interaction. However, in the vehicle 100, the topology of the link between the camera 170 and the left DMD 150 and the right DMD 160 is relatively complex, and the data transmission link is relatively long. When the projection image data is generated according to the external environment image and transmitted to the left DMD 150 and the right DMD 160 to output the projection image, the data transmission delay is relatively high. Moreover, the detection function of the camera 170 is single, and the data processing capabilities of the CDC 111 and the HCM 120 are weak, so it can only realize simple functions, such as brightness adjustment, illumination angle, distance, intelligent high beam, headlight fault detection, etc. It is impossible to achieve high-level autonomous driving of level L3 and above, and the user experience is poor.

[0082] In order to solve the problems of complex link topology, long data transmission link and high data transmission delay of smart headlights in current vehicles, an embodiment of the present application provides a vehicle in which the data transmission link is short, which can reduce the data transmission delay and realize high-order autonomous driving, thereby improving user experience.

[0083] Optionally, the vehicle may include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. The vehicle is a vehicle in a broad sense, for example, the vehicle may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying vehicle, a train, an airplane, a ship, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a lawn mower, a harvester, etc.), an amusement device, a toy vehicle, etc. The embodiment of the present application does not specifically limit the type of the vehicle.

[0084] like Figure 3 A vehicle 300 provided in an embodiment of the present application is shown, wherein the vehicle 300 includes at least one sensor 310, an intelligent driving control unit 320 and a driving projection device 330, wherein the output end of at least one sensor 310 is coupled to the input end of the intelligent driving control unit 320, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the driving projection device 330.

[0085] Among them, at least one sensor 310 generates external environment data according to the external environment of the vehicle 300, and sends the external environment data to the intelligent driving control unit 320. The intelligent driving control unit 320 generates projection image data according to the external environment data, and sends the projection image data to the driving projection device 330. The driving projection device 330 outputs a projection image according to the projection image data.

[0086] Optionally, at least one sensor 310 includes at least one of a camera, a microwave radar, and a laser radar (light detection and ranging, Lidar), which is not limited in the embodiments of the present application.

[0087] Optionally, the projected image can be used to achieve lighting enhancement, assisted driving, light carpet and multimedia, etc. The specific functions that can be achieved by the projected image can refer to the existing technology, and the embodiments of the present application are not limited to this.

[0088] For example, taking the use of projection images to achieve assisted driving as an example, at least one sensor 310 can generate external environment data based on the external environment of the vehicle 300, and the external environment data can include the size and width of obstacles on the road, and the distance between the obstacles and the vehicle 300. The intelligent driving control unit 320 can generate projection image data based on the external environment data, and the driving projection device 330 can output the projection image data based on the projection image data. Figure 4 The projected image shown is used to indicate to the driver that he can pass normally, thereby realizing assisted driving.

[0089] like Figure 5 As shown, in a possible embodiment, the intelligent driving control unit 320 may include a system-level chip 321 and a microprocessor 322, the input end of the system-level chip 321 is coupled to the input end of the intelligent driving control unit 320, the output end of the system-level chip 321 is coupled to the first output end of the intelligent driving control unit 320, the output end of the microprocessor 322 is coupled to the second output end of the intelligent driving control unit 320, and the second output end of the intelligent driving control unit 320 is coupled to the second input end of the driving projection device 330.

[0090] The system-on-chip 321 may also be referred to as SoC, and the system-on-chip 321 generates projection image data according to external environment data. The microprocessor 322 may also be referred to as MCU, and the microprocessor 322 outputs a third control signal, and the third control signal is used to control the projection device 330 to output a projection image according to the projection image data.

[0091] like Figure 5As shown, in a possible embodiment, the intelligent driving control unit 320 may also include a DC-DC conversion circuit 323, a string adder 324 and an IMU 325. The DC-DC conversion circuit 323 is coupled to the power supply through a power line, and the DC-DC conversion circuit 323 is used for voltage conversion and for receiving a KL15 signal to power various devices in the intelligent driving control unit 320. The input end of the string adder 324 is coupled to the output end of the system-level chip 321, and the output end of the string adder 324 is coupled to the first output end of the intelligent driving control unit 320. The IMU 325 is coupled to the microprocessor 322 for detecting the three-axis attitude angle and acceleration of the vehicle 300.

[0092] like Figure 5 As shown, in a possible embodiment, the driving projection device 330 includes a driving circuit 331 and a projection circuit 332, the output end of the driving circuit 331 is coupled to the first input end of the projection circuit 332, the second input end of the projection circuit 332 is coupled to the first input end of the driving projection device 330, and the input end of the driving circuit 331 is coupled to the second input end of the driving projection device 330. The driving circuit 331 receives a control signal from the intelligent driving control unit 320 and generates a driving signal according to the control signal. Driven by the driving signal, the projection circuit 332 outputs a projection image according to the projection image data.

[0093] In one possible embodiment, the projection circuit 332 includes a headlight of the vehicle 300 .

[0094] Optionally, the driving projection device 330 may include a driving circuit 331 and a projection circuit 332 , or may include multiple driving circuits 331 and multiple projection circuits 332 , where each driving circuit 331 is used to drive one projection circuit 332 .

[0095] For example, Figure 6 As shown, taking the driving projection device 330 including two driving circuits 331 and two projection circuits 332 as an example, the two driving circuits 331 can be a left driving circuit 331 and a right driving circuit 331 respectively, and the two projection circuits 332 can be a left projection circuit 332 and a right projection circuit 332 respectively.

[0096] In a possible embodiment, Figure 6As shown, each driving circuit 331 may include an MCU 3311 and a DC-DC conversion circuit 3312. The input end of the MCU 3311 is coupled to the input end of the corresponding driving circuit 331. The input end of the DC-DC conversion circuit 3312 is coupled to the microprocessor 322 in the intelligent driving control unit 320 through a power enable signal line to receive a power enable signal. The DC-DC conversion circuit 3312 is also coupled to the power supply through a power line. The DC-DC conversion circuit 3312 is used to perform voltage conversion to supply power to the MCU 3311 in the driving circuit 331.

[0097] Each projection circuit 332 may include a serializer 3321, a DMD controller 3322, a projection module 3323, and a DC-DC conversion circuit 3324. The input end of the serializer 3321 is coupled to the first input end of the projection circuit 332 to receive projection image data. The output end of the serializer 3321 is coupled to the input end of the DMD controller 3322, and the output end of the DMD controller 3322 is coupled to the input end of the projection module 3323, so that the projection module 3323 outputs a projection image according to the projection image data. The input end of the DC-DC conversion circuit 3324 is coupled to the MCU 3311 in the driving circuit 331 through a power enable signal line to receive a power enable signal. The DC-DC conversion circuit 3324 is also coupled to the power supply through a power line. The DC-DC conversion circuit 3324 performs voltage conversion to supply power to each device in the projection circuit 332.

[0098] The vehicle 300 provided in the embodiment of the present application generates external environment data through at least one sensor 310, and the intelligent driving control unit 320 generates projection image data according to the external environment data and sends it to the driving projection device 330, so that the driving projection device 330 outputs the projection image according to the projection image data. Compared with the link topology in the above-mentioned vehicle 200, the link topology is simpler, the data transmission link is shorter, and the data transmission delay can be reduced. Moreover, at least one sensor 310 includes multiple types of sensors, and the data processing capability of the intelligent driving control unit 320 is stronger, so high-level autonomous driving can be achieved, which can improve the user experience.

[0099] In a possible embodiment, Figure 7 As shown, the vehicle 300 further includes a vehicle control unit 340, and the vehicle control unit 340 is used to control the projection device 330 to output a projection image according to the projection image data.

[0100] Specifically, the input end of the vehicle control unit 340 is coupled to the second output end of the intelligent driving control unit 320, and the output end of the vehicle control unit 340 is coupled to the second input end of the driving projection device 330. The intelligent driving control unit 320 also outputs a first control signal, and the vehicle control unit 340 outputs a second control signal according to the first control signal, and the second control signal is used to control the driving projection device 330 to output a projection image according to the projection image data.

[0101] It can be understood that the vehicle 300 provided in the embodiment of the present application can output a third control signal through the microprocessor 322, and the driven projection device 330 can output a projection image according to the projection image data under the control of the third control signal, or the first control signal can be output through the intelligent driving control unit 320, and the vehicle control unit 340 outputs a second control signal according to the first control signal, and the driven projection device 330 can output a projection image according to the projection image data under the control of the second control signal. The embodiment of the present application does not limit the specific method of controlling the driven projection device 330 to output the projection image.

[0102] Optionally, the vehicle 300 may include one vehicle control unit 340, or may include multiple vehicle control units 340, which is not limited in this embodiment of the present application.

[0103] Optionally, when the vehicle 300 includes multiple vehicle control units 340, the multiple vehicle control units 340 may be in a star topology structure, or may be in a ring topology structure, which is not limited in the embodiments of the present application.

[0104] For example, taking the vehicle 300 including four vehicle control units 340 as an example, the four vehicle control units 340 may be as follows: Figure 7 The star topology is shown.

[0105] In a possible embodiment, Figure 7 As shown, the second output end of the intelligent driving control unit 320 and the output end of the vehicle control unit 340 can be coupled to the second input end of the driving projection device 330 through the first selection switch 350, so that the first selection switch 350 can be used to select the intelligent driving control unit 320 to control the driving projection device 330 to output the projection image, or the vehicle control unit 340 to control the driving projection device 330 to output the projection image.

[0106] In a possible embodiment, Figure 7As shown, the intelligent driving control unit 320 and the vehicle control unit 340 can be coupled to the DC-DC conversion circuit 3312 in the driving circuit 331 through the second selection switch 360 and the power enable signal line, so that the power enable signal can be output by the intelligent driving control unit 320 through the second selection switch 360, or the power enable signal can be output by the vehicle control unit 340 to control the DC-DC conversion circuit 3312 to supply power to the devices in the driving circuit 331, so that the driving circuit 331 can generate and send a driving signal to the projection circuit 332.

[0107] It can be understood that, through the first selection switch 350 and the second selection switch 360, it is possible to select which method to use to control the drive projection device 330 to output the projection image, and the control scheme is more flexible. Moreover, when the vehicle control unit 340 fails, the intelligent driving control unit 320 can be used to control the drive projection device 330 to output the projection image, which can improve reliability.

[0108] In a possible embodiment, Figure 7 As shown, the vehicle 300 further includes a CDC 370, at least one in-vehicle sensor 380, and a display device 390. The output end of the at least one in-vehicle sensor 380 is coupled to the input end of the CDC 370, the output end of the CDC 370 is coupled to the input end of the display device 390, and the CDC 370 is also coupled to the intelligent driving control unit 320 and the vehicle control unit 340.

[0109] Among them, at least one in-vehicle sensor 380 is used to generate internal environment data according to the internal environment of the vehicle and send it to the CDC 370. The CDC 370 sends the internal environment data to the intelligent driving control unit 320. The intelligent driving control unit 320 also generates the above-mentioned projection image data based on the internal environment data and the external environment data to achieve high-level autonomous driving and improve user experience.

[0110] Optionally, the at least one in-vehicle sensor 380 includes at least one of a vehicle speed sensor, an engine speed sensor, an in-vehicle monitoring sensor, and a fuel level sensor.

[0111] Specifically, CDC 370 may include SoC 371, MCU 372, network switching chip 373 and DC-DC conversion circuit 374. One end of SoC 371 is coupled with one end of MCU 372, and the other end of SoC 371 is coupled with one end of network switching chip 373. MCU 372 is coupled with network switching chip 373. MCU 372 in CDC 370 may be coupled with microprocessor 322 in intelligent driving control unit 320 via CAN bus. DC-DC conversion circuit 374 is coupled with power supply via power line, and DC-DC conversion circuit 374 performs voltage conversion to supply power to various devices in CDC 370.

[0112] The intelligent driving control unit 320 also includes a network switching chip 326, which is coupled to the system-level chip 321 and the microprocessor 322 in the intelligent driving control unit. The vehicle control unit 340 includes an MCU 341, a network switching chip 342, and a DC-DC conversion circuit 343. The MCU 341 is coupled to the network switching chip 342, and the network switching chip 342 is coupled to the network switching chip 326 in the intelligent driving control unit 320 and the network switching chip 373 in the CDC 370. The DC-DC conversion circuit 343 is coupled to the power supply through the power line, and the DC-DC conversion circuit 343 performs voltage conversion to supply power to various devices in the vehicle control unit 340.

[0113] In a possible embodiment, the CDC 370 and the intelligent driving control unit 320 may be integrated together.

[0114] The vehicle 300 provided in the embodiment of the present application can control the projection device 330 to output the projection image according to the projection image data through the vehicle control unit 340, or can control the projection device 330 to output the projection image according to the projection image data through the intelligent driving control unit 320, and the control scheme is more flexible. Moreover, when the vehicle control unit 340 fails, the projection device 330 can be controlled to output the projection image through the intelligent driving control unit 320, which can improve reliability.

[0115] like Figure 8 As shown, in a possible embodiment, the vehicle 300 further includes a plurality of controller area network buses 3100, and the plurality of controller area network buses 3100 are coupled to the second output terminal of the intelligent driving control unit 320. The intelligent driving control unit 320 also receives the driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through the plurality of controller area network buses 3100 to control the vehicle 300.

[0116] Optionally, the multiple controller area network buses include a chassis controller area network bus, a chassis redundant controller area network bus and a power controller area network bus.

[0117] Optionally, the driving signal may include at least one of an accelerator pedal signal, a brake switch signal and a collision signal, which is not limited in the embodiment of the present application.

[0118] Specifically, the microprocessor 322 in the intelligent driving control unit 320 can receive the driving signal through a hard line, generate a driving control signal according to the driving signal, and send the driving control signal through multiple controller area network buses 3100 to control the vehicle 300. The vehicle control unit 340 can also be coupled to the multiple controller area network buses 3100, and the vehicle control unit 340 can also receive the driving signal through a hard line, and send the driving control signal through multiple controller area network buses 3100 to control the vehicle 300. Therefore, when the vehicle control unit 340 fails, the microprocessor 322 in the intelligent driving control unit 320 can continue to control the vehicle 300, which can improve the safety and reliability of the vehicle 300.

[0119] The vehicle 300 provided in the embodiment of the present application can control the vehicle 300 through the microprocessor 322 in the intelligent driving control unit 320, so that when the vehicle control unit 340 fails, the safety and reliability of the vehicle 300 can be improved.

[0120] like Fig. 9 As shown, in a possible embodiment, a first power input terminal of the vehicle control unit 340 is coupled to a power supply through a power line, a second power input terminal of the vehicle control unit 340 is coupled to a power output terminal of the intelligent driving control unit 320, a power output terminal of the vehicle control unit 340 is coupled to at least one component 3110 and a first power input terminal of the intelligent driving control unit 320, and a second power input terminal of the intelligent driving control unit 320 is coupled to a power supply through a power line.

[0121] The vehicle control unit 340 may further include a switch 344 . The input end of the switch 344 is coupled to the first power input end of the vehicle control unit 340 , the controlled end of the switch 344 is coupled to the output end of the MCU 341 , and the output end of the switch 344 is coupled to the power output end of the vehicle control unit 340 .

[0122] The intelligent driving control unit 320 also includes a power chip 327 and a switch 328. The first input end of the power chip 327 is coupled to the first power input end of the intelligent driving control unit 320, the input end of the switch 328 and the second input end of the power chip 327 are coupled to the second power input end of the intelligent driving control unit 320, the output end of the power chip 327 is coupled to the microprocessor 322, the microprocessor 322 is coupled to the controlled end of the switch 328, and the output end of the switch 328 is coupled to the power output end of the intelligent driving control unit 320.

[0123] The MCU 341 in the vehicle control unit 340 receives the KL15 signal and generates a control signal according to the KL15 signal. The switch 344 is used to control the on and off of the power supply under the control of the control signal to supply power to at least one component 3110 and the intelligent driving control unit 320. When the intelligent driving control unit 320 determines that the vehicle control unit 340 fails according to the received power supply signal, the microprocessor 322 can generate a control signal, and the switch 328 can turn on the power supply under the control of the control signal. The power supply signal can continue to supply power to at least one component 3110 through the power output terminal of the intelligent driving control unit 320.

[0124] It can be understood that the vehicle 300 provided in the embodiment of the present application can continue to control the on and off of the power supply through the intelligent driving control unit 320 to supply power to at least one component 3110 when the vehicle control unit 340 fails, thereby improving the reliability of the vehicle 300.

[0125] Optionally, at least one component 3110 includes a power component, a chassis, etc. of the vehicle 300, which is not limited in this embodiment of the present application.

[0126] like Fig.10 As shown, it is a flow chart of a vehicle control method provided in an embodiment of the present application. The vehicle control method can be applied to the above-mentioned vehicle 300. The vehicle 300 includes at least one sensor 310, an intelligent driving control unit 320 and a driving projection device 330. The output end of at least one sensor 310 is coupled to the input end of the intelligent driving control unit 320, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the driving projection device 330. The method includes steps S1001-S1003.

[0127] S1001. At least one sensor 310 generates external environment data according to the external environment of the vehicle 300 and sends the external environment data to the intelligent driving control unit 320.

[0128] Optionally, the at least one sensor 310 includes at least one of a camera, a microwave radar, and a lidar, which is not limited in the embodiments of the present application.

[0129] S1002 , the intelligent driving control unit 320 generates projection image data according to the external environment data, and sends the projection image data to the driving projection device 330 .

[0130] S1003 : driving the projection device 330 to output a projection image according to the projection image data.

[0131] Optionally, the projected image can be used to achieve lighting enhancement, assisted driving, light carpet and multimedia, etc. The specific functions that can be achieved by the projected image can refer to the existing technology, and the embodiments of the present application are not limited to this.

[0132] In a possible embodiment, the vehicle 300 further includes a vehicle control unit 340 , and the driving the projection device 330 to output the projection image according to the projection image data includes: driving the projection device 330 to output the projection image according to the projection image data under the control of the vehicle control unit 340 .

[0133] Specifically, the input end of the vehicle control unit 340 is coupled to the second output end of the intelligent driving control unit 320, and the output end of the vehicle control unit 340 is coupled to the second input end of the driving projection device 330. The intelligent driving control unit 320 outputs a first control signal, and the vehicle control unit 340 outputs a second control signal according to the first control signal, and the second control signal controls the driving projection device 330 to output a projection image according to the projection image data.

[0134] In a possible embodiment, the intelligent driving control unit 320 includes a system-level chip 321 and a microprocessor 322, the input end of the system-level chip 321 is coupled to the input end of the intelligent driving control unit 320, the output end of the system-level chip 321 is coupled to the first output end of the intelligent driving control unit 320, and the output end of the microprocessor 322 is coupled to the second output end of the intelligent driving control unit 320.

[0135] The above-mentioned intelligent driving control unit 320 generates projection image data according to external environment data, including: the system-level chip 321 generates projection image data according to external environment data.

[0136] The above-mentioned driving the projection device 330 to output the projection image according to the projection image data includes: driving the projection device 330 to output the projection image according to the projection image data under the control of the third control signal output by the microprocessor 322.

[0137] The projector driving device 330 includes a drive circuit 331 and a projection circuit 332. The output end of the drive circuit 331 is coupled to the input end of the projection circuit 332. The projector driving device 330 outputs a projection image according to the projection image data, including: the drive circuit 331 receives a control signal, generates a drive signal according to the control signal, and the projection circuit 332 is driven by the drive signal to output a projection image according to the projection image data.

[0138] The vehicle control method provided in the embodiment of the present application generates external environment data through at least one sensor 310, and the intelligent driving control unit 320 generates projection image data according to the external environment data and sends it to the driving projection device 330, so that the driving projection device 330 outputs the projection image according to the projection image data. Compared with the link topology in the above-mentioned vehicle 200, the link topology is simpler, the data transmission link is shorter, and the data transmission delay can be reduced. Moreover, at least one sensor 310 includes multiple types of sensors, and the data processing capability of the intelligent driving control unit 320 is stronger, so high-level autonomous driving can be achieved, which can improve the user experience.

[0139] like Fig.11 As shown, in a possible embodiment, the vehicle 300 further includes a plurality of controller area network buses 3100, and the plurality of controller area network buses 3100 are coupled to the second output end of the intelligent driving control unit 320, and the method further includes step S1004.

[0140] S1004. When a failure occurs in the vehicle control unit 340, the intelligent driving control unit 320 receives a driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through multiple controller area network buses 3100 to control the vehicle 300.

[0141] Optionally, the multiple controller area network buses include a chassis controller area network bus, a chassis redundant controller area network bus and a power controller area network bus.

[0142] Optionally, the driving signal may include at least one of an accelerator pedal signal, a brake switch signal and a collision signal, which is not limited in the embodiment of the present application.

[0143] Based on this, the embodiment of the present application further provides an intelligent driving control unit 320, the structure of which can be as described above. Figure 3 , Figures 5 to 9The structure of the intelligent driving control unit 320 shown in any of the accompanying drawings. The input end of the intelligent driving control unit 320 is coupled to the output end of at least one sensor 310, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the driving projection device 330. The intelligent driving control unit 320: receives external environment data, which is data generated by at least one sensor 31 according to the external environment of the vehicle 300, determines projection image data according to the external environment data, and sends the projection image data to the driving projection device 330, so that the driving projection device 330 outputs a projection image according to the projection image data.

[0144] Optionally, the at least one sensor 310 includes at least one of a camera, a microwave radar, and a lidar, which is not limited in the embodiments of the present application.

[0145] Optionally, the projected image can realize lighting enhancement, assisted driving, light blanket and multimedia, etc. The specific functions that can be realized by the projected image can refer to the existing technology, and the embodiments of the present application are not limited to this.

[0146] In a possible embodiment, the second output end of the intelligent driving control unit 320 is coupled to the input end of the vehicle control unit 340, and the output end of the vehicle control unit 340 is coupled to the second input end of the driving projection device 330. The intelligent driving control unit 320 also outputs a first control signal, the first control signal controls the vehicle control unit 340 to output a second control signal, and the second control signal controls the driving projection device 330 to output a projection image according to the projection image data.

[0147] In a possible embodiment, the intelligent driving control unit 320 includes a system chip 321 and a microprocessor 322, the input end of the system chip 321 is coupled to the first input end of the intelligent driving control unit 320, the output end of the system chip 321 is coupled to the first output end of the intelligent driving control unit 320, and the output end of the microprocessor 322 is coupled to the second output end of the intelligent driving control unit 320. The system chip 321 generates projection image data according to the external environment data, and the microprocessor 322 outputs a third control signal, and the third control signal controls the projection device 330 to output the projection image according to the projection image data.

[0148] In a possible embodiment, the second output end of the intelligent driving control unit 320 is coupled to multiple controller area network buses 3100. The intelligent driving control unit 320 also receives a driving signal, generates a driving control signal based on the driving signal, and sends the driving control signal through multiple controller area network buses 3100 to control the vehicle 300.

[0149] The intelligent driving control unit 320 provided in the embodiment of the present application generates projection image data according to the external environment data and sends it to the driving projection device 330, so that the driving projection device 330 outputs the projection image according to the projection image data. Compared with the link topology in the above-mentioned vehicle 200, the link topology is simpler, the data transmission link is shorter, and the data transmission delay can be reduced. Moreover, at least one sensor 310 includes multiple types of sensors, and the data processing capability of the intelligent driving control unit 320 is stronger, so high-level autonomous driving can be achieved, which can improve the user experience.

[0150] Based on this, Fig.12 As shown, the embodiment of the present application also provides an intelligent driving control method, which can be applied to the above-mentioned intelligent driving control unit 320. The structure of the intelligent driving control unit 320 can be as described above. Figure 3 , Figures 5 to 9 The structure of the intelligent driving control unit 320 shown in any of the figures. The input end of the intelligent driving control unit 320 is coupled to the output end of at least one sensor 310, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the driving projection device 330. The method includes steps S1201-S1202.

[0151] S1201 , receiving external environment data, where the external environment data is data generated by at least one sensor 310 according to the external environment of the vehicle 300 .

[0152] S1202 : Determine projection image data according to the external environment data, and send the projection image data to the projection driving device 330 , so that the projection driving device 330 outputs a projection image according to the projection image data.

[0153] In a possible embodiment, the second output terminal of the intelligent driving control unit 320 is coupled to the input terminal of the vehicle control unit 340, and the output terminal of the vehicle control unit 340 is coupled to the second input terminal of the driving projection device 330. The above step S1202 includes: outputting a first control signal, the first control signal controls the vehicle control unit 340 to output a second control signal, and the second control signal controls the driving projection device 330 to output a projection image according to the projection image data.

[0154] In a possible embodiment, the intelligent driving control unit 320 includes a system chip 321 and a microprocessor 322, the input end of the system chip 321 is coupled to the first input end of the intelligent driving control unit 320, the output end of the system chip 321 is coupled to the first output end of the intelligent driving control unit 320, and the output end of the microprocessor 322 is coupled to the second output end of the intelligent driving control unit 320. The above step S1202 includes: the system chip 321 generates projection image data according to the external environment data. The microprocessor 322 outputs a third control signal, and the third control signal controls the driving projection device 330 to output the projection image according to the projection image data.

[0155] In a possible embodiment, Fig.13 As shown, the second output end of the intelligent driving control unit 320 is coupled to multiple controller area network buses 3100, and the method also includes step S1203.

[0156] S1203 , receiving a driving signal, generating a driving control signal according to the driving signal, and sending the driving control signal through a plurality of controller area network buses 3100 to control the vehicle 300 .

[0157] The relevant descriptions of the vehicle 300 provided above can all be referred to the vehicle control method, the intelligent driving control unit 320 and the intelligent driving control method, and the embodiments of the present application will not be repeated here.

[0158] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle, characterized in that: The vehicle comprises at least one sensor, an intelligent driving control unit and a driving projection device, wherein an output end of the at least one sensor is coupled to an input end of the intelligent driving control unit, and a first output end of the intelligent driving control unit is coupled to a first input end of the driving projection device; The at least one sensor is used to generate external environment data according to the external environment of the vehicle and send the external environment data to the intelligent driving control unit; The intelligent driving control unit is used to generate projection image data according to the external environment data, and send the projection image data to the driving projection device; The driving projection device is used to output a projection image according to the projection image data.

2. The vehicle according to claim 1, characterized in that The vehicle further includes a vehicle control unit, and the vehicle control unit is used to control the driven projection device to output the projection image according to the projection image data.

3. The vehicle according to claim 2, characterized in that The input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device; The intelligent driving control unit is further configured to output a first control signal; The vehicle control unit is used to output a second control signal according to the first control signal, and the second control signal is used to control the driven projection device to output the projection image according to the projection image data.

4. The vehicle according to any one of claims 1 to 3, characterized in that: The intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled to the input end of the intelligent driving control unit, the output end of the system-level chip is coupled to the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled to the second output end of the intelligent driving control unit; The system-level chip is used to generate the projection image data according to the external environment data; The microprocessor is used to output a third control signal, and the third control signal is used to control the driven projection device to output the projection image according to the projection image data.

5. The vehicle according to any one of claims 1 to 4, characterized in that: The driving projection device comprises a driving circuit and a projection circuit, wherein an output end of the driving circuit is coupled to an input end of the projection circuit; The driving circuit is used to receive a control signal and generate a driving signal according to the control signal; The projection circuit is used to output the projection image according to the projection image data under the drive of the driving signal.

6. The vehicle according to claim 5, characterized in that The projection circuit includes a headlight of the vehicle.

7. The vehicle according to any one of claims 1 to 6, characterized in that: The vehicle further includes a plurality of controller area network buses, the plurality of controller area network buses being coupled to a second output terminal of the intelligent driving control unit; The intelligent driving control unit is also used to receive a driving signal, generate a driving control signal according to the driving signal, and send the driving control signal through the multiple controller area network buses to control the vehicle.

8. The vehicle according to claim 7, characterized in that The plurality of CAN buses include a chassis CAN bus, a chassis redundant CAN bus and a power CAN bus.

9. The vehicle according to any one of claims 1 to 8, characterized in that: The at least one sensor includes at least one of a camera, a microwave radar, and a lidar.

10. A vehicle control method, characterized in that: The vehicle includes at least one sensor, an intelligent driving control unit and a driving projection device, the output end of the at least one sensor is coupled to the input end of the intelligent driving control unit, the first output end of the intelligent driving control unit is coupled to the first input end of the driving projection device, and the method includes: The at least one sensor generates external environment data according to the external environment of the vehicle, and sends the external environment data to the intelligent driving control unit; The intelligent driving control unit generates projection image data according to the external environment data, and sends the projection image data to the driving projection device; The driven projection device outputs a projection image according to the projection image data.

11. The method according to claim 10, characterized in that The vehicle further includes a vehicle control unit, and the driving projection device to output a projection image according to the projection image data includes: The driven projection device outputs the projection image according to the projection image data under the control of the vehicle control unit.

12. The method according to claim 11, characterized in that The input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The method further includes: The intelligent driving control unit outputs a first control signal; The vehicle control unit outputs a second control signal according to the first control signal, and the second control signal is used to control the driven projection device to output the projection image according to the projection image data.

13. The method according to claim 11 or 12, characterized in that: The intelligent driving control unit includes a system-level chip and a microprocessor, wherein an input end of the system-level chip is coupled to an input end of the intelligent driving control unit, an output end of the system-level chip is coupled to a first output end of the intelligent driving control unit, and an output end of the microprocessor is coupled to a second output end of the intelligent driving control unit. The intelligent driving control unit generates projection image data according to the external environment data, including: the system-level chip generates the projection image data according to the external environment data; The driving the projection device to output the projection image according to the projection image data comprises: the driving the projection device to output the projection image according to the projection image data under the control of a third control signal output by the microprocessor.

14. The method according to claim 12 or 13, characterized in that The projector driving device comprises a driving circuit and a projection circuit, wherein an output end of the driving circuit is coupled to an input end of the projection circuit, and the projector driving device outputs a projection image according to the projection image data, comprising: The driving circuit receives a control signal and generates a driving signal according to the control signal; The projection circuit is driven by the driving signal to output the projection image according to the projection image data.

15. The method according to claim 11 or 12, characterized in that: The vehicle further includes a plurality of controller area network buses, wherein the plurality of controller area network buses are coupled to a second output terminal of the intelligent driving control unit, and the method further includes: When the vehicle control unit fails, the intelligent driving control unit receives a driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through the multiple controller area network buses to control the vehicle.

16. An intelligent driving control unit, characterized in that: The input end of the intelligent driving control unit is coupled to the output end of at least one sensor, the first output end of the intelligent driving control unit is coupled to the first input end of the driving projection device, and the intelligent driving control unit is used to: receiving external environment data, wherein the external environment data is generated by the at least one sensor according to an external environment of the vehicle; The projection image data is determined according to the external environment data, and the projection image data is sent to the driven projection device, so that the driven projection device outputs a projection image according to the projection image data.

17. The intelligent driving control unit according to claim 16, characterized in that: The second output terminal of the intelligent driving control unit is coupled to the input terminal of the vehicle control unit, and the output terminal of the vehicle control unit is coupled to the second input terminal of the driving projection device; The intelligent driving control unit is also used to output a first control signal, where the first control signal is used to control the vehicle control unit to output a second control signal, where the second control signal is used to control the driven projection device to output the projection image according to the projection image data.

18. The intelligent driving control unit according to claim 16 or 17, characterized in that: The intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled to the first input end of the intelligent driving control unit, the output end of the system-level chip is coupled to the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled to the second output end of the intelligent driving control unit; The system-level chip is used to generate the projection image data according to the external environment data; The microprocessor is used to output a third control signal, and the third control signal is used to control the driven projection device to output the projection image according to the projection image data.

19. The intelligent driving control unit according to any one of claims 16 to 18, characterized in that: A second output terminal of the intelligent driving control unit is coupled to a plurality of controller area network buses; The intelligent driving control unit is also used to receive a driving signal, generate a driving control signal according to the driving signal, and send the driving control signal through the multiple controller area network buses to control the vehicle.

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