Driving track projection method, electronic equipment and storage medium

Abstract

The invention relates to the technical field of projection display, particularly provides a driving track projection method, electronic equipment and a storage medium, and aims to solve the technical problem that a vehicle driving track projected by a high-definition pixel headlamp is inaccurate. In order to achieve the purpose, the driving track projection method is applied to the driving equipment, the driving equipment is provided with a projection lamp, and the method comprises the steps that the steering angle of the driving equipment at the current moment is obtained; acquiring a preset projection image set; the preset projection image set comprises multiple frames of preset driving track projection images; based on multiple frames of preset driving track projection images in a preset projection image set, acquiring an actual driving track projection image corresponding to the steering angle at the current moment; and projecting an actual driving track projection image to the road surface in the driving direction of the driving equipment based on the projection lamp. Through the above implementation mode, it can be ensured that when the driving equipment is at different steering angles, the vehicle driving track corresponding to the current moment can be accurately projected, and the use experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of projection display technology, and in particular to a driving trajectory projection method, electronic equipment and storage medium. Background Art

[0002] At present, with the widespread use of high-definition pixel headlights, there are more and more application scenarios that use this type of headlights to achieve projection functions. Among them, projecting the vehicle's driving trajectory is a typical application scenario. It can project the predicted driving trajectory during the vehicle's driving process, allowing the driver to visually observe the vehicle's driving trajectory, thereby avoiding traffic accidents and improving driving safety.

[0003] However, when using high-definition pixel headlights to project the vehicle's driving trajectory, there are generally problems such as inaccurate projected vehicle driving trajectory, obvious splicing when the left and right headlights are projected at the same time, and uneven visual effect.

[0004] Accordingly, the art needs a new driving trajectory projection solution to solve the above problems. Summary of the invention

[0005] In order to overcome the above-mentioned defects, the present application is proposed to provide a driving trajectory projection method, electronic device and storage medium that solve or at least partially solve the technical problems of inaccurate vehicle driving trajectory projected by high-definition pixel headlights and uneven visual effects when the left and right headlights are projected at the same time.

[0006] In a first aspect, a driving trajectory projection method is provided, which is applied to a driving device, wherein the driving device is provided with a projection lamp, and the method comprises:

[0007] Obtaining the current steering angle of the driving device;

[0008] Acquire a preset projection image set; the preset projection image set includes multiple frames of preset driving trajectory projection images;

[0009] Based on the plurality of frames of the preset driving trajectory projection images in the preset projection image set, acquiring an actual driving trajectory projection image corresponding to the steering angle at the current moment;

[0010] The actual driving track projection image is projected onto a road surface in a driving direction of the driving device based on the projection lamp.

[0011] In a technical solution of the above-mentioned driving trajectory projection method, obtaining a preset projection image set includes:

[0012] Acquire a first corresponding relationship between a steering angle of the driving device and a projection angle of the projection lamp, and a second corresponding relationship between the steering angle and a driving track of the driving device;

[0013] Based on the first corresponding relationship and the second corresponding relationship, a plurality of frames of the preset driving trajectory projection images corresponding to a plurality of preset projection angles are acquired to obtain the preset projection image set.

[0014] In a technical solution of the above-mentioned driving trajectory projection method, the projection angle of the projection lamp is within the projection angle range;

[0015] The preset projection angle is at least a partial angle within the projection angle range;

[0016] Alternatively, the preset projection angle is all angles within the projection angle range.

[0017] In a technical solution of the above-mentioned driving trajectory projection method, when the preset projection angle is at least a partial angle within the projection angle range; the obtaining of the actual driving trajectory projection image corresponding to the steering angle at the current moment based on the multiple frames of the preset driving trajectory projection images in the preset projection image set includes:

[0018] When the projection angle corresponding to the current steering angle is the preset projection angle, a preset driving track projection image corresponding to the preset projection angle is determined in the preset projection image set as the actual driving track projection image;

[0019] When the projection angle corresponding to the steering angle at the current moment is not the preset projection angle, in the preset projection image set, a preset driving trajectory projection image corresponding to an adjacent preset projection angle of the projection angle is determined, and based on the preset driving trajectory projection image corresponding to the adjacent preset projection angle, an actual driving trajectory projection image corresponding to the steering angle at the current moment is obtained.

[0020] In a technical solution of the above-mentioned driving trajectory projection method, the obtaining of the actual driving trajectory projection image corresponding to the current steering angle based on the preset driving trajectory projection images corresponding to the adjacent preset projection angles comprises:

[0021] Acquire a preset driving track projection image corresponding to the adjacent preset projection angles as an initial driving track projection image;

[0022] Obtaining an angle difference between the projection angle and the adjacent preset projection angle;

[0023] The pixel points in the initial driving trajectory projection image are adjusted in position and / or size based on the angle difference to obtain an actual driving trajectory projection image corresponding to the steering angle at the current moment.

[0024] In a technical solution of the above-mentioned driving trajectory projection method, when the preset projection angle is all angles within the projection angle range; the obtaining of the actual driving trajectory projection image corresponding to the steering angle at the current moment based on the multiple frames of the preset driving trajectory projection images in the preset projection image set includes:

[0025] Obtain the preset projection angle corresponding to the current steering angle;

[0026] A preset driving trajectory projection image corresponding to the preset projection angle in the preset projection image set is obtained as the actual driving trajectory projection image.

[0027] In a technical solution of the above-mentioned driving trajectory projection method, when the driving device is provided with a plurality of projection lamps, the step of obtaining a preset projection image set further comprises:

[0028] Respectively acquiring the first corresponding relationship between the current steering angle and the projection angles of the plurality of projection lamps;

[0029] Based on the first corresponding relationship and the second corresponding relationship, a preset driving trajectory projection image corresponding to the preset projection angle of each projection lamp is acquired to obtain a plurality of preset projection image sets corresponding to the plurality of projection lamps.

[0030] In a technical solution of the above-mentioned driving trajectory projection method, the method further includes:

[0031] Acquire a preset overlapping area of ​​each frame of the preset driving track projection image in a plurality of the preset projection image sets;

[0032] The preset overlapping area is subjected to a gradient gradual change process.

[0033] In a technical solution of the above-mentioned driving trajectory projection method, when the driving device is provided with a plurality of projection lamps, projecting the actual driving trajectory projection image onto the road surface in the driving direction of the driving device based on the projection lamps includes:

[0034] Based on the current steering angle, obtaining an actual overlap area between a plurality of projection images of the actual driving track projected by the plurality of projection lamps;

[0035] The brightness of the pixels in the actual overlap area is adjusted.

[0036] In a technical solution of the above-mentioned driving trajectory projection method, the brightness adjustment of the pixel points in the actual overlap area includes:

[0037] Dividing the actual overlapping area into a plurality of sub-areas;

[0038] Acquire position information of the plurality of projection lamps;

[0039] Based on the position information of each projection lamp, the brightness of each sub-area in the actual driving track projection image projected by the projection lamp is adjusted.

[0040] In a second aspect, an electronic device is provided, which includes a processor and a memory, wherein the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the driving trajectory projection method described in any one of the technical solutions of the above-mentioned driving trajectory projection method.

[0041] In a third aspect, a computer-readable storage medium is provided, in which a plurality of program codes are stored, wherein the program codes are suitable for being loaded and run by a processor to execute the driving trajectory projection method described in any one of the technical solutions of the above-mentioned driving trajectory projection method.

[0042] Solution 1. A driving track projection method, applied to a driving device, characterized in that the driving device is provided with a projection lamp, and the method comprises:

[0043] Obtaining the current steering angle of the driving device;

[0044] Acquire a preset projection image set; the preset projection image set includes multiple frames of preset driving trajectory projection images;

[0045] Based on the plurality of frames of the preset driving trajectory projection images in the preset projection image set, acquiring an actual driving trajectory projection image corresponding to the steering angle at the current moment;

[0046] The actual driving track projection image is projected onto a road surface in a driving direction of the driving device based on the projection lamp.

[0047] Solution 2. The driving trajectory projection method according to Solution 1 is characterized in that obtaining a preset projection image set comprises:

[0048] Acquire a first corresponding relationship between a steering angle of the driving device and a projection angle of the projection lamp, and a second corresponding relationship between the steering angle and a driving track of the driving device;

[0049] Based on the first corresponding relationship and the second corresponding relationship, a plurality of frames of the preset driving trajectory projection images corresponding to a plurality of preset projection angles are acquired to obtain the preset projection image set.

[0050] Solution 3. The driving track projection method according to Solution 2 is characterized in that the projection angle of the projection lamp is within the projection angle range;

[0051] The preset projection angle is at least a partial angle within the projection angle range;

[0052] Alternatively, the preset projection angle is all angles within the projection angle range.

[0053] Solution 4. The driving trajectory projection method according to Solution 3 is characterized in that, when the preset projection angle is at least a partial angle within the projection angle range, acquiring the actual driving trajectory projection image corresponding to the steering angle at the current moment based on multiple frames of the preset driving trajectory projection images in the preset projection image set comprises:

[0054] When the projection angle corresponding to the current steering angle is the preset projection angle, a preset driving track projection image corresponding to the preset projection angle is determined in the preset projection image set as the actual driving track projection image;

[0055] When the projection angle corresponding to the steering angle at the current moment is not the preset projection angle, in the preset projection image set, a preset driving trajectory projection image corresponding to an adjacent preset projection angle of the projection angle is determined, and based on the preset driving trajectory projection image corresponding to the adjacent preset projection angle, an actual driving trajectory projection image corresponding to the steering angle at the current moment is obtained.

[0056] Solution 5. The driving trajectory projection method according to Solution 4 is characterized in that the step of obtaining the actual driving trajectory projection image corresponding to the current steering angle based on the preset driving trajectory projection image corresponding to the adjacent preset projection angle comprises:

[0057] Acquire a preset driving track projection image corresponding to the adjacent preset projection angles as an initial driving track projection image;

[0058] Obtaining an angle difference between the projection angle and the adjacent preset projection angle;

[0059] The pixel points in the initial driving trajectory projection image are adjusted in position and / or size based on the angle difference to obtain an actual driving trajectory projection image corresponding to the steering angle at the current moment.

[0060] Solution 6. The driving trajectory projection method according to Solution 3 is characterized in that when the preset projection angle is all angles within the projection angle range; the step of obtaining the actual driving trajectory projection image corresponding to the steering angle at the current moment based on multiple frames of the preset driving trajectory projection images in the preset projection image set comprises:

[0061] Obtain the preset projection angle corresponding to the current steering angle;

[0062] A preset driving trajectory projection image corresponding to the preset projection angle in the preset projection image set is obtained as the actual driving trajectory projection image.

[0063] Solution 7. The driving trajectory projection method according to any one of solutions 2 to 6 is characterized in that, when the driving device is provided with a plurality of projection lamps, the obtaining of a preset projection image set further comprises:

[0064] Respectively obtaining the first corresponding relationship between the current steering angle and the projection angles of the plurality of projection lamps;

[0065] Based on the first corresponding relationship and the second corresponding relationship, a preset driving trajectory projection image corresponding to the preset projection angle of each projection lamp is acquired to obtain a plurality of preset projection image sets corresponding to the plurality of projection lamps.

[0066] Solution 8. The driving trajectory projection method according to Solution 7 is characterized in that the method further comprises:

[0067] Acquire a preset overlapping area of ​​each frame of the preset driving track projection image in a plurality of the preset projection image sets;

[0068] The preset overlapping area is subjected to a gradient gradual change process.

[0069] Solution 9. The driving trajectory projection method according to any one of solutions 1 to 6 is characterized in that, when the driving device is provided with a plurality of projection lamps, projecting the actual driving trajectory projection image onto the road surface in the driving direction of the driving device based on the projection lamps comprises:

[0070] Based on the current steering angle, obtaining an actual overlap area between a plurality of projection images of the actual driving track projected by the plurality of projection lamps;

[0071] The brightness of the pixels in the actual overlap area is adjusted.

[0072] Solution 10. The driving trajectory projection method according to Solution 9 is characterized in that the brightness adjustment of the pixel points in the actual overlap area comprises:

[0073] Dividing the actual overlapping area into a plurality of sub-areas;

[0074] Acquire position information of the plurality of projection lamps;

[0075] Based on the position information of each projection lamp, the brightness of each sub-area in the actual driving track projection image projected by the projection lamp is adjusted.

[0076] Solution 11. An electronic device comprising a processor and a memory, wherein the memory is suitable for storing multiple program codes, and wherein the program codes are suitable for being loaded and run by the processor to execute the driving trajectory projection method described in any one of Solutions 1 to 10.

[0077] Solution 12. A computer-readable storage medium storing a plurality of program codes, characterized in that the program codes are suitable for being loaded and run by a processor to execute the driving trajectory projection method described in any one of Solutions 1 to 10.

[0078] The above one or more technical solutions of this application have at least one or more of the following Beneficial effects:

[0079] In the technical solution for implementing the present application, the driving trajectory projection method is applied to a driving device, and the driving device is provided with a projection lamp; first, the current steering angle of the driving device is obtained, and a preset projection image set is obtained, wherein the preset projection image set includes multiple frames of preset driving trajectory projection images; then, based on the multiple frames of preset driving trajectory projection images in the preset projection image set, the actual driving trajectory projection image corresponding to the current steering angle is obtained, and based on the projection lamp, the actual driving trajectory projection image is projected onto the road surface in the driving direction of the driving device. Through the above implementation, the corresponding driving trajectory projection image can be projected according to the current steering angle of the driving device and the pre-stored projection image set, ensuring that the driving device can accurately project the vehicle driving trajectory corresponding to the current moment at different steering angles, thereby improving the user experience.

[0080] Furthermore, when the driving equipment is provided with a plurality of projection lamps, by adjusting the brightness of the overlapping areas between the projection images of the multiple driving trajectories projected by the plurality of projection lamps and implementing zone control, it can be ensured that when the vehicle is at different turning angles, the driving trajectories projected by the plurality of projection lamps visually observed by the driver are overall uniform and consistent without a sense of splicing. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The disclosure of the present application will become easier to understand with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. Among them:

[0082] Figure 1 It is a schematic diagram of the vehicle's driving trajectory projected by existing high-definition pixel headlights;

[0083] Figure 2 It is a schematic flow chart of the main steps of the driving trajectory projection method according to an embodiment of the present application;

[0084] Figure 3It is a schematic flow chart of the main steps of acquiring an actual driving track projection image corresponding to a current steering angle based on preset driving track projection images corresponding to adjacent preset projection angles according to an embodiment of the present application;

[0085] Figure 4 is a schematic diagram of a preset driving track projection image according to an embodiment of the present application;

[0086] Figure 5 is a schematic diagram of an actual driving trajectory projected by a projection lamp according to an embodiment of the present application;

[0087] Figure 6a is a schematic diagram of multiple actual driving trajectory projection images according to an embodiment of the present application;

[0088] Figure 6b is a schematic diagram of multiple actual driving trajectory projection images according to another embodiment of the present application;

[0089] Figure 7 is a schematic diagram of performing gradient processing on a preset overlapping area of ​​a preset driving track projection image according to an embodiment of the present application;

[0090] Figure 8 This is a schematic flow chart of the main steps of projecting an actual driving track projection image onto a road surface in the driving direction of a driving device based on a projection lamp according to an embodiment of the present application;

[0091] Fig. 9 is a schematic diagram of an actual overlap area according to an embodiment of the present application;

[0092] Fig.10 This is a schematic diagram of the main structure of an electronic device according to an embodiment of the present application.

[0093] List of reference numerals:

[0094] 1001: memory; 1002: processor. DETAILED DESCRIPTION

[0095] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0096] In the description of this application, "processor" may include hardware, software or a combination of the two. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. Non-temporary computer-readable storage media include any suitable medium that can store program code, such as a disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc.

[0097] The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one of A or B" or "at least one of A and B" has a similar meaning to "A and / or B" and may include only A, only B, or A and B. The singular forms "a", "the" and "the" may also include plural forms.

[0098] Here we first explain some terms involved in this application.

[0099] High-definition pixel headlights: A type of vehicle lighting fixture that has a higher pixel resolution than traditional headlights. It can precisely control and distribute light like a projector, achieving more complex lighting and projection functions.

[0100] As described in the background technology, with the widespread use of high-definition pixel headlights, there are more and more application scenarios that use such headlights to achieve projection functions. Among them, projecting the vehicle's driving trajectory is a typical application scenario. It can project the predicted driving trajectory during the vehicle's driving process, allowing the driver to visually observe the vehicle's driving trajectory, thereby avoiding traffic accidents and improving driving safety.

[0101] See attached Figure 1 , Figure 1 This is a schematic diagram of the vehicle's driving trajectory projected by existing high-definition pixel headlights. Figure 1 As shown, when high-definition pixel headlights are used to project the vehicle's driving trajectory, there are problems such as inaccurate projected vehicle driving trajectory, obvious splicing when the left and right headlights are projected at the same time, and uneven visual effect.

[0102] In order to solve the above problems, the present application provides a driving trajectory projection method, an electronic device and a storage medium. The driving trajectory projection method is applied to a driving device, and the driving device is provided with at least one projection lamp (ie, a high-definition pixel headlight).

[0103] For details, see the attached Figure 2 , Figure 2 1 is a schematic flow chart of the main steps of the driving trajectory projection method according to an embodiment of the present application. Figure 2As shown, the driving trajectory projection method in the embodiment of the present application mainly includes the following steps S201 to S204.

[0104] Step S201: obtaining the current steering angle of the driving device;

[0105] Step S202: obtaining a preset projection image set;

[0106] The preset projection image set includes multiple frames of preset driving trajectory projection images.

[0107] Step S203: acquiring an actual driving trajectory projection image corresponding to the current steering angle based on a plurality of frames of preset driving trajectory projection images in the preset projection image set;

[0108] Step S204: Projecting an actual driving trajectory projection image onto the road surface in the driving direction of the driving device based on the projection light.

[0109] Based on the method described in steps S201 to S204 above, the corresponding driving trajectory projection image can be projected according to the current steering angle of the driving device and the pre-stored projection image set, ensuring that the driving device can accurately project the vehicle driving trajectory corresponding to the current moment at different steering angles, thereby improving the user experience.

[0001] The above steps S201 to S204 are further explained below.

[0110] In some implementations of step S201, the current steering angle of the driving device can be obtained during the driving process of the driving device. The current steering angle refers to the angle between the center line of the front wheel of the driving device and the longitudinal axis of the vehicle at the current moment. When the driving device is driving in a straight line, the steering angle is zero; when turning left or right, the steering angle is negative or positive, respectively.

[0111] Specifically, the current steering angle may be acquired by a sensor, for example, by using a steering angle sensor, a yaw rate sensor, a lateral acceleration sensor and other devices to measure the current steering angle of the driving device.

[0112] The current steering angle can also be obtained through image recognition technology. Specifically, an image acquisition device installed on the driving device can be used to capture an image containing a tire or a steering wheel, and then an image processing algorithm can be used to identify and calculate the steering angle of the tire or the steering wheel, thereby obtaining the current steering angle of the driving device.

[0113] In addition, the steering angle of the steering wheel and the tire can also be measured by mechanical measuring devices, such as a steering wheel angle measuring instrument, a tire displacement sensor, etc., and then the current steering angle of the driving device can be calculated.

[0114] It should be pointed out that the above examples of obtaining the current steering angle of the driving device are only schematic illustrations. In actual applications, those skilled in the art can choose the above or other methods to obtain the current steering angle of the driving device according to specific scenarios, and no limitation is made here.

[0115] The above is a further description of step S201. The following is a further description of step S202.

[0116] In some implementations of the above step S202, the preset projection image set may be acquired through the following steps S2021 to S2022.

[0117] Step S2021: obtaining a first corresponding relationship between a steering angle of the driving device and a projection angle of the projection lamp, and a second corresponding relationship between the steering angle and a driving track of the driving device;

[0118] The projection angle of a projection lamp refers to the angle range formed when the light emitted from the light source of the projection lamp is projected onto a target plane (such as the ground, a wall, etc.), that is, the coverage range of the light projected by the projection lamp.

[0119] There is a corresponding relationship (i.e., a first corresponding relationship) between the steering angle of the driving device and the projection angle of the projection lamp, which can be preset, and can be obtained through experiments and calibration. Through the first corresponding relationship, the projection angle of the projection lamp corresponding to different steering angles of the driving device can be determined.

[0120] Furthermore, a second corresponding relationship between the steering angle and the driving track of the driving device may be obtained.

[0121] Specifically, the corresponding relationship (second corresponding relationship) between the steering angle and the driving trajectory can be established through a kinematic model, that is, the driving trajectory corresponding to different steering angles of the driving device is determined through a mathematical equation.

[0122] It is also possible to obtain historical steering angles and historical driving device driving trajectories through historical data of the driving device, and determine a second corresponding relationship between the steering angle and the driving trajectory based on the historical steering angles and the historical driving device driving trajectory.

[0123] In addition, the complex relationship between the steering angle and the driving trajectory can also be modeled and learned through machine learning algorithms, such as neural networks, support vector machines, etc., and the driving trajectories corresponding to different steering angles can be predicted through a large amount of data training, thereby obtaining a second corresponding relationship between the steering angle and the driving trajectory of the driving device, which is not limited here.

[0124] The above is a further explanation of step S2021.

[0125] Step S2022: Based on the first corresponding relationship and the second corresponding relationship, a plurality of frames of preset driving trajectory projection images corresponding to a plurality of preset projection angles are acquired to obtain a preset projection image set.

[0126] The projection angle of the projection lamp is within a projection angle range, the projection angle range may be 0 degrees to 10 degrees, and the accuracy of the projection angle may be set to 0.01.

[0127] Furthermore, some key angles can be found within the projection angle range of the projection lamp as preset projection angles.

[0128] In some embodiments, the preset projection angle may be at least a partial angle within the projection angle range, such as integer angles such as 0.00 degrees, 1.00 degrees, 2.00 degrees, and up to 10.00 degrees.

[0129] In some implementations, the preset projection angle may be any angle within a projection angle range, such as 0.00 degrees, 0.01 degrees, 0.02 degrees . . . 10.00 degrees, which is not limited here.

[0130] Furthermore, the steering angles corresponding to the preset projection angles can be obtained according to the first corresponding relationship, and then the corresponding preset driving trajectories can be determined for the steering angles according to the second corresponding relationship.

[0131] For example, three preset projection angles are set to be 0.00 degrees, 5.00 degrees, and 10.00 degrees, and the steering angle corresponding to 0.00 degrees is calculated to be α degrees, 5.00 degrees to be β degrees, and 10.00 degrees to be γ degrees through the first corresponding relationship. At this time, the second corresponding relationship can be used to determine that the driving trajectory of the driving device when the steering angle is α degrees is trajectory A, the driving trajectory of the driving device when the steering angle is β degrees is trajectory B, and the driving trajectory of the driving device when the steering angle is γ degrees is trajectory P.

[0132] Furthermore, based on the driving tracks corresponding to the different preset projection angles obtained above, imaging optical technology or simulation technology (such as computer graphics methods, combined with the actual appearance of the driving device, simulation technology of the projection effect of the projection lamp, etc.) can be used to generate corresponding projection images for each driving track corresponding to the preset projection angle using software algorithms, that is, preset driving track projection images. Then, these multiple frames of preset driving track projection images generated for different preset projection angles are aggregated and stored together to form a preset projection image set.

[0133] The above is a further description of step S202 , and the following is a further description of step S203 .

[0134] In some embodiments of the above step S203, when the preset projection angle is at least a partial angle within the projection angle range, such as integer angles such as 0.00 degrees, 1.00 degrees, 2.00 degrees, and up to 10.00 degrees, it is possible to first determine whether the projection angle corresponding to the steering angle at the current moment is the preset projection angle, and perform corresponding operations based on the determination result.

[0135] Specifically, when the projection angle corresponding to the current steering angle of the driving device is a preset projection angle, a preset driving trajectory projection image of the preset projection angle can be determined in the preset projection image set as the actual driving trajectory projection image.

[0136] Since the preset projection image set already stores some preset driving trajectory projection images corresponding to preset projection angles, when the projection angle corresponding to the current steering angle is the preset projection angle, the preset driving trajectory projection image corresponding to the preset projection angle can be directly found in the preset projection image set as the actual driving trajectory projection image.

[0137] When the projection angle corresponding to the current steering angle of the driving device is not a preset projection angle, a preset driving trajectory projection image corresponding to an adjacent preset projection angle of the projection angle can be determined in the preset projection image set, and the actual driving trajectory projection image corresponding to the current steering angle can be obtained based on the preset driving trajectory projection image corresponding to the adjacent preset projection angle.

[0138] Specifically, a preset projection angle adjacent to the current projection angle may be found in the preset projection image set.

[0139] In some embodiments, if the projection angle corresponding to the steering angle at the current moment has two adjacent preset projection angles, the preset projection angle with a closer distance (i.e., a smaller angle difference) can be used as the adjacent preset projection angle, or one of the two adjacent preset projection angles can be randomly selected as the adjacent preset projection angle, which is not limited here.

[0140] For example, when the projection angle corresponding to the steering angle at the current moment is 0.56 degrees, and the preset projection angles are integer angles such as 0.00 degrees, 1.00 degrees, 2.00 degrees, and up to 10.00 degrees, 1.00 degrees, which is closer to 0.56 degrees, can be used as the adjacent preset projection angle, or one of 0.00 degrees or 1.00 can be randomly selected as the adjacent preset projection angle; when the projection angle corresponding to the steering angle at the current moment is 0.5 degrees, and the preset projection angles are integer angles such as 0.00 degrees, 1.00 degrees, 2.00 degrees, and up to 10.00 degrees, one of 0.00 degrees or 1.00 can be randomly selected as the adjacent preset projection angle.

[0141] Furthermore, preset driving trajectory projection images corresponding to adjacent preset projection angles may be determined, and an actual driving trajectory projection image corresponding to the current steering angle may be acquired based on the preset driving trajectory projection images corresponding to the adjacent preset projection angles.

[0142] For details, see the attached Figure 3 , Figure 3 This is a schematic flow chart of the main steps of acquiring the actual driving trajectory projection image corresponding to the current steering angle based on the preset driving trajectory projection images corresponding to the adjacent preset projection angles according to an embodiment of the present application. Figure 3 As shown, it mainly includes the following steps S301 to S303.

[0143] Step S301: obtaining preset driving track projection images corresponding to adjacent preset projection angles as initial driving track projection images;

[0144] See attached Figure 4 , Figure 4 It is a schematic diagram of a preset driving trajectory projection image according to an embodiment of the present application.

[0145] Step S302: Obtaining the angle difference between the projection angle and the adjacent preset projection angle;

[0146] That is, the angle difference between the projection angle corresponding to the current steering angle and the adjacent preset projection angle is calculated.

[0147] For example, when the projection angle corresponding to the current steering angle is 0.56 degrees and the adjacent preset projection angle is 0.00 degrees, the angle difference is 0.56 degrees; when the projection angle corresponding to the current steering angle is 0.56 degrees and the adjacent preset projection angle is 1.00 degrees, the angle difference is 0.44 degrees.

[0148] Step S303: adjusting the position and / or size of the pixel points in the initial driving trajectory projection image based on the angle difference to obtain the actual driving trajectory projection image corresponding to the steering angle at the current moment.

[0149] Specifically, the initial driving trajectory projection image (i.e., the preset driving trajectory projection image) is composed of multiple pixel points. The linear interpolation method, the transformation matrix-based method and other algorithms can be used to determine the distance that each pixel in the initial driving trajectory projection image moves in the horizontal direction or the vertical direction, so as to adjust the position of the pixel points in the initial driving trajectory projection image and obtain the actual driving trajectory projection image corresponding to the steering angle at the current moment.

[0150] The scaling ratio of each pixel in the initial driving trajectory projection image can also be determined by using algorithms such as proportional scaling method and scaling method based on projection geometry, so as to adjust the size of the pixel points in the initial driving trajectory projection image and obtain the actual driving trajectory projection image corresponding to the steering angle at the current moment.

[0151] In addition, the pixel points in the initial driving trajectory projection image may be simultaneously adjusted in position and size to obtain the actual driving trajectory projection image corresponding to the steering angle at the current moment, which is not limited here.

[0152] In other embodiments of the above-mentioned step S203, when the preset projection angle is all angles within the projection angle range, such as all angles of 0.00 degrees, 0.01 degrees, 0.02 degrees...10.00 degrees, the preset projection angle corresponding to the steering angle at the current moment can be obtained, and the preset driving trajectory projection image corresponding to the preset projection angle in the preset projection image set can be obtained as the actual driving trajectory projection image.

[0153] Specifically, a preset driving trajectory projection image corresponding to a preset projection angle is directly selected from a preset projection image set as the actual driving trajectory projection image of the driving device at the current moment.

[0154] Through the above implementation, it is possible to finally obtain an actual driving track projection image that matches the current steering angle of the driving device.

[0155] The above is the description of the above step S203.

[0156] Furthermore, in some implementations of the above step S204, an actual driving trajectory projection image may be projected onto the road surface in the driving direction of the driving device based on a projection lamp.

[0157] See attached Figure 5 , Figure 5 It is a schematic diagram of an actual driving trajectory projected by a projection lamp according to an embodiment of the present application.

[0158] Through the above implementation, the corresponding driving trajectory projection image can be projected according to the current steering angle of the driving device and the pre-stored projection image set, ensuring that the driving device can accurately project the vehicle driving trajectory corresponding to the current moment at different steering angles, thereby improving the user experience.

[0159] Furthermore, it has been observed that when the driving device is provided with multiple projection lights, if the first correspondence between the steering angle of the driving device and the projection angles of the multiple projection lights is the same, the stitching effect of the multiple projection images of the actual driving trajectories projected onto the road surface by the multiple projection lights may not be good, and it is difficult to achieve the ideal multi-light coordination effect.

[0160] See attached Figure 6a , Figure 6a FIG. 1 is a schematic diagram of multiple actual driving track projection images according to an embodiment of the present application. Figure 6a As shown, the actual driving trajectory projection images projected by the left and right projection lamps of the driving device are not well stitched together and there are bifurcations.

[0161] Therefore, in some embodiments of the above-mentioned step S202, the first correspondence between the current steering angle and the projection angles of multiple projection lights can be obtained respectively, and based on the first correspondence and the second correspondence, the preset driving trajectory projection image corresponding to the preset projection angle of each projection light can be obtained to obtain a plurality of preset projection image sets corresponding to the plurality of projection lights.

[0162] Specifically, when multiple projection lamps are set on the driving device, for each projection lamp, the relationship between the steering angle and the projection angle of the projection lamp can be independently set through experiments and calibration, so as to obtain a first corresponding relationship between the steering angle of the driving device and the projection angle of each projection lamp.

[0163] Among them, the first correspondence between the steering angle and the projection angles of different projection lamps can be the same or different. For example, for some straight-driving scenes, the first correspondence between the steering angle and the projection angles of different projection lamps can be the same; for some turning scenes, the first correspondence between the steering angle and the projection angles of different projection lamps can be different, so that the projection angles of different projection lamps corresponding to the same steering angle are different, which is not limited here.

[0164] Next, the preset driving trajectory projection image corresponding to the preset projection angle of each projection lamp can be obtained through the first corresponding relationship and the second corresponding relationship between the steering angle and the driving trajectory of the driving device, so as to obtain a plurality of preset projection image sets corresponding to the plurality of projection lamps.

[0165] Specifically, for each projection lamp, the corresponding preset driving track projection image can be generated according to the method described in the above step S2022, and finally a plurality of preset projection image sets can be obtained.

[0166] See attached Figure 6b , Figure 6b FIG. 1 is a schematic diagram of multiple actual driving track projection images according to another embodiment of the present application. Figure 6b As shown, after the first corresponding relationship between the steering angle of the driving device and the projection angles of multiple projection lamps is set respectively, the actual driving trajectory projection images projected by the left projection lamp and the right projection lamp of the driving device are spliced ​​together with good effect, achieving the effect of multi-lamp coordination.

[0167] Furthermore, in order to solve the problem of obvious splicing and uneven visual effect when multiple projection lights are projecting at the same time, in some embodiments of the above-mentioned step S202, each frame of the preset projection image in the preset projection image set corresponding to each projection light can be processed so that the preset overlapping area at the edge of each frame of the preset projection image can achieve a gradient light and dark effect.

[0168] Specifically, a preset overlapping area of ​​each frame of a preset driving track projection image in a plurality of preset projection image sets may be obtained, and a gradient gradual change process may be performed on the preset overlapping area.

[0169] Among them, for each frame of the preset driving trajectory projection image, its preset overlapping area can be determined by optical geometric models, historical projection data, etc.

[0170] In some embodiments, when determining the preset overlapping area of ​​the preset driving trajectory projection image through an optical geometric model, a geometric model can be constructed based on information such as the position of the projection lamp (such as the installation position coordinates on the driving device), the projection angle range, and the driving direction of the driving device, so as to calculate the boundary of the area covered by each projection lamp on a two-dimensional plane, and finally obtain the intersection of the projection areas of multiple projection lamps. Finally, the preset overlapping area can be determined based on the corresponding position of the intersection in each frame of the preset driving trajectory projection image.

[0171] In some embodiments, when determining the preset overlapping area of ​​the preset driving trajectory projection image through historical projection data, the actual projection range and light intensity distribution of each projection lamp on the road surface can be collected by a sensor, and the collected historical data can be analyzed to determine the projection range of each projection lamp, thereby determining the overlapping area of ​​the projection ranges of multiple projection lamps. By applying this overlapping area information to the preset driving trajectory projection image, the overlapping area can be accurately marked in the preset driving trajectory projection image.

[0172] For example, the driving device is provided with two projection lamps, namely a left projection lamp and a right projection lamp. Then the right part of the projection image of each frame of the preset driving trajectory corresponding to the left projection lamp and the left part of the projection image of each frame of the preset driving trajectory corresponding to the right projection lamp are the preset overlapping areas.

[0173] Furthermore, after determining the preset overlapping area of ​​each frame of the preset driving trajectory projection image, a gradient gradual change process may be performed on the preset overlapping area.

[0174] Specifically, some image processing software, such as PS, Pixelmator Pro, etc., can be used to adjust the brightness of the preset overlapping area of ​​the preset driving trajectory projection image to set a gradient light and dark effect.

[0175] See attached Figure 7 , Figure 7 FIG. 1 is a schematic diagram of performing gradient processing on a preset overlap area of ​​a preset driving track projection image according to an embodiment of the present application. Figure 7 As shown, after the preset overlapping area of ​​a frame of preset driving track projection image corresponding to the left projection lamp of the driving device is subjected to gradient gradual change processing, the gradient gradual light and dark effect is achieved.

[0176] Furthermore, in some implementations of the above step S204, the actual overlapping areas of the multiple actual driving trajectory projection images projected by multiple projection lights can also be zoned to control the actual driving trajectory projected by multiple lights visually observed by the driver to be an overall uniform and consistent picture without any sense of splicing.

[0177] For details, see the attached Figure 8 , Figure 8 This is a flow chart of the main steps of projecting an actual driving trajectory projection image onto the road surface in the driving direction of the driving device based on a projection lamp according to an embodiment of the present application. Figure 8 As shown, it mainly includes the following steps S801 to S802.

[0178] Step S801: based on the current steering angle, obtaining the actual overlap area between multiple actual driving track projection images projected by multiple projection lights;

[0179] Specifically, the coverage of the actual driving trajectory projection image projected by each projection lamp on the road surface can be determined based on the steering angle at the current moment and the correspondence between the projection angle of each projection lamp and the steering angle (i.e., the first correspondence). The coverage of multiple projections can be used to determine the area where they overlap, i.e., the actual overlapping area.

[0180] For example, the driving device is provided with two projection lamps, namely the left projection lamp and the right projection lamp. The actual driving trajectory projection image projected by the left projection lamp covers the road area in front of and part of the left side of the driving device, and the actual driving trajectory projection image projected by the right projection lamp covers the road area in front of and part of the right side of the driving device. Then, the area directly in front of the driving device where the image coverage of the two projection lamps intersects is the actual overlapping area between them.

[0181] Step S802: adjusting the brightness of the pixels in the actual overlapping area.

[0182] In some implementations, the brightness of the pixels in the actual overlapped area may be adjusted through the following steps S8021 to S8023.

[0183] Step S8021: Divide the actual overlapping area into multiple sub-areas;

[0184] See attached Fig. 9 , Fig. 9 is a schematic diagram of the actual overlap area according to an embodiment of the present application. Fig. 9 As shown, when the driving device is provided with a left projection lamp and a right projection lamp, for the actual driving track projection image projected by the left projection lamp, the actual overlap area can be divided into ten sub-areas according to the position and size of the pixel points.

[0185] When the actual overlapping area is divided into a plurality of sub-areas, the sub-areas may be divided at equal intervals or at unequal intervals, which is not limited here.

[0186] Step S8022: Obtaining position information of multiple projection lamps;

[0187] The positions of the projection lamps on the driving equipment are different, and their contribution to the light and the degree of influence on each sub-area in the actual overlapping area are different. Therefore, the position information of each projection lamp can be obtained, including the coordinate position, installation height, angle and other information of the projection lamp on the driving equipment.

[0188] Step S8023: Based on the position information of each projection lamp, adjust the brightness of each sub-area in the actual driving track projection image projected by the projection lamp.

[0189] In some embodiments, the brightness of each sub-area in the actual driving track projection image projected by the projection lamp can be adjusted by a dimming coefficient, wherein the dimming coefficient is a parameter used to quantify and control the brightness of the light source, indicating the proportion of adjusting the brightness of the light source.

[0190] Specifically, based on the position information of each projection lamp, its relative position relationship with each sub-area and light propagation characteristics and other factors can be analyzed, or based on a pre-set parameter control table, the dimming coefficient corresponding to each sub-area in the actual driving trajectory projection image projected by each projection lamp can be determined.

[0191] For example, when the driving device is provided with a left projection lamp and a right projection lamp, for a plurality of sub-actually overlapping areas of the actual driving track projection image projected by the left projection lamp, the dimming coefficient can be sequentially reduced from left to right, such as Fig. 9 The brightness ratios of the ten sub-actually overlapping areas shown are 0.9, 0.8, 0.7, 0.6, 0.5, 0.4, 0.3, 0.2, 0.15, and 0.1 from left to right. For the multiple sub-actually overlapping areas of the actual driving track projection image projected by the right projection lamp, the dimming coefficients can be increased from left to right, such as Fig. 9 The brightness ratios of the ten sub-actual overlapping areas shown are 0.1, 0.15, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, and 0.9 from left to right.

[0192] In addition, in some embodiments, the brightness of each sub-area in the actual driving trajectory projection image projected by the projection lamp can be adjusted by parameters such as brightness ratio and duty cycle, which are not limited here.

[0193] By adjusting the brightness of the actual overlapping areas between the multiple driving track projection images projected by multiple projection lamps and implementing zone control, it can be ensured that when the vehicle is at different turning angles, the driving track projected by multiple lights visually observed by the driver is an overall uniform and consistent picture without any sense of splicing.

[0194] Ultimately, we have achieved the goal of accurately projecting the vehicle's driving trajectory and presenting a clear and uniform driving trajectory projection effect when multiple lights are projected, which improves the user experience.

[0195] The above is a further explanation of the driving trajectory projection method provided in this application.

[0196] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effect of the present application, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present application.

[0197] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment of the present application can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0198] Furthermore, the present application also provides an electronic device. Fig.10 , Fig.10 Schematic diagram of the main structure of an electronic device according to an embodiment of the present application. Fig.10As shown, the electronic device in the embodiment of the present application mainly includes a processor 1001 and a memory 1002. The memory 1002 can be configured to store a program for executing the driving trajectory projection method of the above method embodiment, and the processor 1001 can be configured to execute the program in the memory 1002, which includes but is not limited to the program for executing the driving trajectory projection method of the above method embodiment. For ease of explanation, only the part related to the embodiment of the present application is shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application.

[0199] In some possible implementations of the present application, the electronic device may include multiple processors 1001 and multiple memories 1002. The program for executing the driving trajectory projection method of the above method embodiment can be divided into multiple subprograms, and each subprogram can be loaded and run by the processor 1001 to execute different steps of the driving trajectory projection method of the above method embodiment. Specifically, each subprogram can be stored in different memories 1002, respectively, and each processor 1001 can be configured to execute the program in one or more memories 1002 to jointly implement the driving trajectory projection method of the above method embodiment, that is, each processor 1001 executes different steps of the driving trajectory projection method of the above method embodiment, to jointly implement the driving trajectory projection method of the above method embodiment.

[0200] The above-mentioned multiple processors 1001 may be processors deployed on the same device. For example, the above-mentioned electronic device may be a high-performance device composed of multiple processors, and the above-mentioned multiple processors 1001 may be processors configured on the high-performance device. In addition, the above-mentioned multiple processors 1001 may also be processors deployed on different devices. For example, the above-mentioned electronic device may be a server cluster, and the above-mentioned multiple processors 1001 may be processors on different servers in the server cluster, or the above-mentioned computer device may be a driving device cluster, and the above-mentioned multiple processors 1001 may be processors on different driving devices in the driving device cluster.

[0201] Furthermore, the present application also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present application, the computer-readable storage medium can be configured to store a program for executing the driving trajectory projection method of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned driving trajectory projection method. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application. The computer-readable storage medium can be a memory device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-temporary computer-readable storage medium.

[0202] It should be noted that the relevant user personal information that may be involved in the various embodiments of the present application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0203] The user personal information processed by this application will vary depending on the specific product / service scenario, and shall be based on the specific scenario in which the user uses the product / service, and may involve the user's account information, device information, driving information, vehicle information or other related information. This application will treat the user's personal information and its processing with a high degree of diligence.

[0204] This application attaches great importance to the security of user personal information and has taken reasonable and feasible security protection measures that meet industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

[0205] So far, the technical solution of the present application has been described in conjunction with an embodiment shown in the accompanying drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A driving trajectory projection method, applied to a driving device, characterized in that: The driving device is provided with a projection lamp, and the method comprises: Obtaining the current steering angle of the driving device; Acquire a preset projection image set; the preset projection image set includes multiple frames of preset driving trajectory projection images; Based on the plurality of frames of the preset driving trajectory projection images in the preset projection image set, acquiring an actual driving trajectory projection image corresponding to the steering angle at the current moment; The actual driving track projection image is projected onto a road surface in a driving direction of the driving device based on the projection lamp.

2. The driving trajectory projection method according to claim 1, characterized in that: The obtaining of a preset projection image set comprises: Acquire a first corresponding relationship between a steering angle of the driving device and a projection angle of the projection lamp, and a second corresponding relationship between the steering angle and a driving track of the driving device; Based on the first corresponding relationship and the second corresponding relationship, a plurality of frames of the preset driving trajectory projection images corresponding to a plurality of preset projection angles are acquired to obtain the preset projection image set.

3. The driving trajectory projection method according to claim 2, characterized in that: The projection angle of the projection lamp is within the projection angle range; The preset projection angle is at least a partial angle within the projection angle range; Alternatively, the preset projection angle is all angles within the projection angle range.

4. The driving trajectory projection method according to claim 3, characterized in that: When the preset projection angle is at least a partial angle within the projection angle range, acquiring the actual driving trajectory projection image corresponding to the current steering angle based on the multiple frames of the preset driving trajectory projection images in the preset projection image set includes: When the projection angle corresponding to the current steering angle is the preset projection angle, a preset driving track projection image corresponding to the preset projection angle is determined in the preset projection image set as the actual driving track projection image; When the projection angle corresponding to the steering angle at the current moment is not the preset projection angle, in the preset projection image set, a preset driving trajectory projection image corresponding to an adjacent preset projection angle of the projection angle is determined, and based on the preset driving trajectory projection image corresponding to the adjacent preset projection angle, an actual driving trajectory projection image corresponding to the steering angle at the current moment is obtained.

5. The driving trajectory projection method according to claim 4, characterized in that: The step of acquiring the actual driving track projection image corresponding to the current steering angle based on the preset driving track projection image corresponding to the adjacent preset projection angle comprises: Acquire a preset driving track projection image corresponding to the adjacent preset projection angles as an initial driving track projection image; Obtaining an angle difference between the projection angle and the adjacent preset projection angle; The pixel points in the initial driving trajectory projection image are adjusted in position and / or size based on the angle difference to obtain an actual driving trajectory projection image corresponding to the steering angle at the current moment.

6. The driving trajectory projection method according to claim 3, characterized in that: When the preset projection angle is all angles within the projection angle range; the step of obtaining the actual driving trajectory projection image corresponding to the current steering angle based on the multiple frames of the preset driving trajectory projection images in the preset projection image set includes: Obtain the preset projection angle corresponding to the current steering angle; A preset driving trajectory projection image corresponding to the preset projection angle in the preset projection image set is obtained as the actual driving trajectory projection image.

7. The driving trajectory projection method according to any one of claims 2 to 6, characterized in that: When the driving device is provided with a plurality of the projection lamps, the obtaining of the preset projection image set further comprises: Respectively acquiring the first corresponding relationship between the current steering angle and the projection angles of the plurality of projection lamps; Based on the first corresponding relationship and the second corresponding relationship, a preset driving trajectory projection image corresponding to the preset projection angle of each projection lamp is acquired to obtain a plurality of preset projection image sets corresponding to the plurality of projection lamps.

8. The driving trajectory projection method according to claim 7, characterized in that: The method further comprises: Acquire a preset overlapping area of ​​each frame of the preset driving track projection image in a plurality of the preset projection image sets; The preset overlapping area is subjected to a gradient change process.

9. The driving trajectory projection method according to any one of claims 1 to 6, characterized in that: When the driving device is provided with a plurality of the projection lamps, projecting the actual driving track projection image onto the road surface in the driving direction of the driving device based on the projection lamps includes: Based on the current steering angle, obtaining an actual overlap area between a plurality of projection images of the actual driving track projected by the plurality of projection lamps; The brightness of the pixels in the actual overlap area is adjusted.

10. The driving trajectory projection method according to claim 9, characterized in that: The step of adjusting the brightness of the pixels in the actual overlapped area comprises: Dividing the actual overlapping area into a plurality of sub-areas; Acquire position information of the plurality of projection lamps; Based on the position information of each projection lamp, the brightness of each sub-area in the actual driving track projection image projected by the projection lamp is adjusted.

Images