Vehicle-mounted device and driving track projection method thereof

Abstract

The invention relates to the technical field of driving assistance systems, and discloses a vehicle-mounted device and a driving track projection method thereof, and the vehicle-mounted device is arranged on a first vehicle. The vehicle-mounted device comprises a storage module, at least one projection module, at least one camera module, a communication module and a processing module. The at least one projection module is used for projecting the suggested driving track. The at least one camera module is used for capturing a driving picture when the first vehicle runs on the first lane, the driving picture comprises an image of a second vehicle, the second vehicle runs on the second lane and is located behind the first vehicle, and the second lane is located on the left of the first lane or on the right of the first lane. The communication module is used for establishing a channel with a first vehicle to receive turn light information and a first vehicle speed of the first vehicle, wherein the turn light information is selected from a left turn indication, a right turn indication and a straight movement indication.

Description

Technical Field

[0001] The present invention relates to the technical field of driving assistance systems, and particularly to an in-vehicle device and a driving track projection method thereof. Background Art

[0002] With the progress of technology, advanced driver-assistance systems (ADAS) have become standard equipment for modern vehicles. Among them, existing ADAS has an automatic driving function, and this automatic driving function can calculate a driving track according to road conditions, so that vehicles equipped with ADAS can drive automatically according to this driving track. Taking Tesla's electric vehicle (hereinafter referred to as Tesla) as an example, Tesla can currently execute functions such as Autopilot assisted driving and Full self-driving (FSD). Among them, Autopilot assisted driving includes functions such as assisted steering function, assisted acceleration function, assisted braking function, or assisted reverse function.

[0003] However, limited by traffic regulations in most countries, the FSD function can only be applied in a few countries. Moreover, there are still many safety and uncertainty problems with the FSD function currently. For example, a vehicle following an electric vehicle with the FSD function (hereinafter referred to as the electric vehicle) cannot know the driving track calculated by the FSD function of the electric vehicle, so the following vehicle cannot predict the actual driving route of the electric vehicle. In addition, when the electric vehicle executes the assisted reverse function, pedestrians behind the electric vehicle cannot predict the actual reverse route of the electric vehicle. Summary of the Invention

[0004] The purpose of the present invention is to provide an in-vehicle device and a driving track projection method thereof to solve the deficiencies in the background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A vehicle-mounted device is disposed on a first vehicle. The vehicle-mounted device includes: at least one projection module for projecting a recommended driving trajectory; at least one camera module for capturing a driving image when the first vehicle is driving on a first lane, wherein the driving image includes an image of a second vehicle that is driving behind the first vehicle; a communication module for receiving a turn signal information and a first vehicle speed of the first vehicle, wherein the turn signal information is selected from a left turn indication, a right turn indication, and a straight-ahead indication; a processing module electrically connected to the at least one projection module, the at least one camera module, and the communication module for calculating a second vehicle speed of the second vehicle and a first vehicle distance between the first vehicle and the second vehicle based on the image of the second vehicle; and a storage module electrically connected to the processing module. When the turn signal information is the left turn indication or the right turn indication, the processing module controls the at least one projection module to project the recommended driving trajectory onto a second lane, wherein the recommended driving trajectory is selected from a historical driving trajectory and a system driving trajectory. When the turn signal information is the straight-ahead indication, the processing module controls the at least one projection module to stop projecting the recommended driving trajectory onto the second lane.

[0007] Preferably, the processing module is further configured to calculate the system driving trajectory based on the first vehicle speed, the second vehicle speed, and the first vehicle distance, and store the system driving trajectory in the storage module as the corresponding historical driving trajectory, wherein the recommended driving trajectory is the system driving trajectory.

[0008] Preferably, when there is a corresponding historical driving trajectory in the storage module, the recommended driving trajectory is the corresponding historical driving trajectory. The corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

[0009] Preferably, when there is a corresponding historical driving trajectory in the storage module, the processing module is further configured to calculate the system driving trajectory according to the first vehicle speed, the second vehicle speed, and the first vehicle distance. The processing module is further configured to calculate a first safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the historical driving trajectory and a second safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the system driving trajectory. And the processing module is further configured to compare the first safety distance with the second safety distance; wherein, when the value of the first safety distance is greater than the value of the second safety distance, the recommended driving trajectory is the historical driving trajectory; when the value of the first safety distance is less than the value of the second safety distance, the recommended driving trajectory is the system driving trajectory; the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

[0010] Preferably, the driving picture further includes an image of a third vehicle. The third vehicle travels on the first lane and is in front of the first vehicle. The processing module is further configured to calculate a third vehicle speed of the third vehicle and a second vehicle distance between the first vehicle and the third vehicle according to the image of the third vehicle; and the processing module is further configured to calculate the system driving trajectory according to the first vehicle speed, the second vehicle speed, the third vehicle speed, the first vehicle distance, and the second vehicle distance; when there is a corresponding historical driving trajectory in the storage module, the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, a historical third vehicle speed corresponding to the third vehicle speed, a historical first vehicle distance corresponding to the first vehicle distance, and a historical second vehicle distance corresponding to the second vehicle distance.

[0011] To further achieve the above object, the present invention provides the following technical solutions:

[0012] A driving track projection method, applicable to a vehicle-mounted device disposed on a first vehicle, the driving track projection method comprising: receiving a direction light information of the first vehicle, wherein the direction light information is selected from a left turn indication, a right turn indication, and a straight-ahead indication; when the direction light information is the left turn indication or the right turn indication, performing a projection step to project a recommended driving track, wherein the projection step comprises: receiving a first vehicle speed of the first vehicle; capturing a driving image when the first vehicle is traveling on a first lane, wherein the driving image includes an image of a second vehicle traveling on a second lane and located behind the first vehicle, and the second lane is located to the left or right of the first lane; calculating a second vehicle speed of the second vehicle and a first vehicle distance between the first vehicle and the second vehicle according to the image of the second vehicle; and projecting the recommended driving track onto the second lane, wherein the recommended driving track is selected from a historical driving track and a system driving track; and when the direction light information is the straight-ahead indication, stopping projecting the recommended driving track; wherein the historical driving track is stored in a storage module.

[0013] Preferably, the projection step further comprises: calculating the system driving track according to the first vehicle speed, the second vehicle speed, and the first vehicle distance; and storing the system driving track in the storage module as the corresponding historical driving track; wherein the recommended driving track is the system driving track.

[0014] Preferably, when there is a corresponding historical driving track in the storage module, the recommended driving track is the corresponding historical driving track; wherein the corresponding historical driving track has a historical direction light information corresponding to the direction light information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

[0015] Preferably, when there is a corresponding historical driving trajectory in the storage module, the projection step further includes: calculating the system driving trajectory according to the first vehicle speed, the second vehicle speed, and the first vehicle distance; calculating a first safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the corresponding historical driving trajectory and a second safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the system driving trajectory; and comparing the value of the first safety distance with the value of the second safety distance; wherein, when the value of the first safety distance is greater than the value of the second safety distance, the recommended driving trajectory is the corresponding historical driving trajectory; when the value of the first safety distance is less than the value of the second safety distance, the recommended driving trajectory is the system driving trajectory; the corresponding historical driving trajectory has a historical direction light information corresponding to the direction light information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

[0016] Preferably, the driving picture further includes an image of a third vehicle, the third vehicle is traveling on the first lane and is in front of the first vehicle, and the projection step further includes: calculating a third vehicle speed of the third vehicle and a second vehicle distance between the first vehicle and the third vehicle according to the image of the third vehicle; wherein, the system driving trajectory is calculated according to the first vehicle speed, the second vehicle speed, the third vehicle speed, the first vehicle distance, and the second vehicle distance; when there is a corresponding historical driving trajectory in the storage module, the corresponding historical driving trajectory has a historical direction light information corresponding to the direction light information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, a historical third vehicle speed corresponding to the third vehicle speed, a historical first vehicle distance corresponding to the first vehicle distance, and a historical second vehicle distance corresponding to the second vehicle distance.

[0017] To further achieve the above object, the present invention provides the following technical solutions:

[0018] A vehicle-mounted device is provided on a first vehicle. The vehicle-mounted device includes: at least one projection module for projecting a reminder driving trajectory; a communication module for receiving a gear position information, a driving environment information, and a steering wheel information of the first vehicle, where the gear position information is selected from a parking gear, a neutral gear, a driving gear, and a reverse gear; at least one camera module for continuously capturing the driving environment information in its shooting direction; and a processing module electrically connected to the at least one projection module, the at least one camera module, and the communication module for calculating the reminder driving trajectory according to the gear position information, the driving environment information, and the steering wheel information. When the gear position information is the driving gear, the processing module controls the at least one projection module to project the reminder driving trajectory onto the ground in front of the first vehicle. When the gear position information is the reverse gear, the processing module controls the at least one projection module to project the reminder driving trajectory onto the ground behind the first vehicle. When the gear position information is the parking gear or the neutral gear, the processing module controls the at least one projection module to stop projecting the reminder driving trajectory.

[0019] Preferably, the reminder driving trajectory includes at least one straight trajectory.

[0020] Preferably, the steering wheel information includes an angle value that lies between an angle range, and the angle range has a lower limit, a first intermediate value, a second intermediate value, and an upper limit. When the angle value lies between the lower limit and the first intermediate value, the at least one straight trajectory is offset by a first offset angle with respect to a straight forward direction of the first vehicle or offset by a second offset angle with respect to a straight backward direction of the first vehicle. When the angle value lies between the first intermediate value and the second intermediate value, the at least one straight trajectory is parallel to the direction of the body length of the first vehicle. When the angle value lies between the second intermediate value and the upper limit, the at least one straight trajectory is offset by the first offset angle with respect to the straight forward direction or offset by the second offset angle with respect to the straight backward direction.

[0021] Preferably, the reminder driving trajectory includes at least one curved trajectory, and the at least one curved trajectory has a radius of curvature.

[0022] Preferably, the steering wheel information includes an angle value that lies between an angle range, and the radius of curvature is related to the angle value. When the angle value is 0°, the at least one curved trajectory is a straight trajectory.

[0023] To further achieve the above object, the present invention provides the following technical solutions:

[0024] A driving trajectory projection method is applicable to a vehicle-mounted device, which is installed on a first vehicle. The driving trajectory projection method includes: receiving a gear position information, a driving environment information and a first vehicle speed of the first vehicle, where the gear position information is selected from a parking gear, a neutral gear, a driving gear and a reverse gear; when the gear position information is the driving gear or the reverse gear and the first vehicle speed meets a preset condition, performing a projection step to project a reminder driving trajectory, where the projection step includes: receiving a steering wheel information of the first vehicle; calculating the reminder driving trajectory according to the gear position information, the driving environment information and the steering wheel information; when the gear position information is the driving gear and the first vehicle speed meets the preset condition, projecting the reminder driving trajectory onto the ground in front of the first vehicle; and when the gear position information is the reverse gear and the first vehicle speed meets the preset condition, projecting the reminder driving trajectory onto the ground behind the first vehicle; and when the gear position information is the parking gear or the neutral gear, stopping projecting the reminder driving trajectory.

[0025] Preferably, the reminder driving trajectory includes at least one straight-line trajectory.

[0026] Preferably, the steering wheel information includes an angle value, the angle value is between an angle range, and the angle range has a lower limit value, a first intermediate value, a second intermediate value and an upper limit value; when the angle value is between the lower limit value and the first intermediate value, the at least one straight-line trajectory is offset by a first offset angle relative to a straight-ahead direction of the first vehicle or a straight-backward direction of the first vehicle; when the angle value is between the first intermediate value and the second intermediate value, the at least one straight-line trajectory is parallel to the direction of the body length of the first vehicle; when the angle value is between the second intermediate value and the upper limit value, the at least one straight-line trajectory is offset by a second offset angle relative to the straight-ahead direction or the straight-backward direction.

[0027] Preferably, the reminder driving trajectory includes at least one curved trajectory, and the at least one curved trajectory has a radius of curvature.

[0028] Preferably, the steering wheel information includes an angle value, the angle value is between an angle range, and the radius of curvature is related to the angle value; when the angle value is 0°, the at least one curved trajectory is a straight-line trajectory.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: According to any technical solution, when an electric vehicle executes the function of automatic assisted driving (such as changing lanes or assisted reversing), the in-vehicle device can project the driving trajectory of this electric vehicle onto the ground to achieve a warning effect, so that vehicles or pedestrians near this electric vehicle can immediately react to avoid danger. In addition, even for vehicles without ADAS functions, the in-vehicle device can also assist in calculating a suitable driving trajectory and project this driving trajectory onto the ground, thereby achieving the same warning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a block diagram of the first embodiment of the in-vehicle device.

[0031] Figure 2 is Figure 1 the operation flowchart of the first embodiment of the in-vehicle device in

[0032] Figure 3 is Figure 2 the operation flowchart of one embodiment of step S110 in

[0033] Figure 4 is Figure 1 the schematic diagram of the first embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0034] Figure 5 is Figure 1 the schematic diagram of the second embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0035] Figure 6 is Figure 1 the schematic diagram of the third embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0036] Figure 7 is Figure 1 the schematic diagram of the fourth embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0037] Figure 8 is Figure 1 the schematic diagram of the fifth embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0038] Figure 9 is Figure 1 the schematic diagram of the sixth embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0039] Figure 10 is Figure 1 the schematic diagram of the seventh embodiment of the in-vehicle device projecting a reminder of the driving trajectory in

[0040] Figure 11 is Figure 1Schematic diagram of the eighth embodiment of the in-vehicle device projecting a reminder of the driving track.

[0041] Figure 12 Module block diagram of the second embodiment of the in-vehicle device.

[0042] Figure 13 Is Figure 12 Operation flowchart of the first embodiment of the in-vehicle device.

[0043] Figure 14 Is Figure 13 Operation flowchart of the first embodiment of step S210.

[0044] Figure 15 Is Figure 12 Schematic diagram of the first embodiment of the in-vehicle device projecting a recommended driving track.

[0045] Figure 16 Is Figure 13 Operation flowchart of the second embodiment of step S210.

[0046] Figure 17 Is Figure 12 Schematic diagram of the second embodiment of the in-vehicle device projecting a recommended driving track.

[0047] Figure 18 Is Figure 13 Operation flowchart of the third embodiment of step S210.

[0048] Figure 19 Is Figure 12 Schematic diagram of an embodiment after the in-vehicle device travels according to the historical driving track.

[0049] Figure 20 Is Figure 12 Schematic diagram of an embodiment after the in-vehicle device travels according to the system driving track.

[0050] Figure 21 Is the continuation of Figure 13 Operation flowchart of an embodiment of step S205.

[0051] Figure 22 Is Figure 12 Schematic diagram of the third embodiment of the in-vehicle device projecting a recommended driving track. Detailed implementation manner

[0052] Please refer to Figure 1, in this case, a vehicle-mounted device 10 is proposed, which is suitable for being arranged on a first vehicle (not shown in the figure). The vehicle-mounted device 10 includes at least one projection module 100, a communication module 110, a processing module 120, and at least one camera module 130. Among them, the processing module 120 is electrically connected to at least one projection module 100, a communication module 110, and at least one camera module 130.

[0053] In some embodiments, the vehicle-mounted device 10 further includes a detection module 140 (as Figure 1 shown), where the detection module 140 is electrically connected to the first vehicle 21 and the processing module 120.

[0054] Please refer to Figures 1 to 5 . As Figure 2 shown, when the vehicle-mounted device 10 starts to operate, the vehicle-mounted device 10 continuously receives a gear information of the first vehicle 21 and a vehicle speed of the first vehicle 21 (hereinafter referred to as the first vehicle speed), and captures a driving environment information in its shooting direction through at least one camera module 130, where this gear information is selected from a parking gear, a neutral gear, a driving gear, and a reverse gear (step S100), and this driving environment information includes a ground marking information, a relative orientation of surrounding vehicles, and an information sign, etc. Then, the vehicle-mounted device 10 judges what this gear information is through the processing module 120 (step S105). When this gear information is this driving gear or this reverse gear and this first vehicle speed meets a preset condition, the vehicle-mounted device 10 performs a projection step to project a reminder driving trajectory (step S110); when this gear information is this parking gear or this neutral gear, the vehicle-mounted device 10 stops projecting this reminder driving trajectory (step S120). Finally, after step S110 or step S120, the vehicle-mounted device 10 judges again whether this gear information has changed (that is, performs step S105 again) and continues the subsequent steps.

[0055] In some embodiments, this preset condition is, for example, but not limited to, less than 10 kilometers per hour (km / hr). In other words, in this embodiment, when the gear information of the first vehicle 21 is the driving gear or the reverse gear and this first vehicle speed is less than 10 (km / hr), the vehicle-mounted device 10 will project this reminder driving trajectory.

[0056] As Figure 3As shown, in this projection step (step S110), when the in-vehicle device 10 determines that this gear information is this forward gear or this reverse gear and meets this preset condition, the in-vehicle device 10 receives a steering wheel information of the first vehicle 21 (step S111). Then, the in-vehicle device 10 calculates this reminder driving trajectory based on this gear information, this first vehicle speed, this steering wheel information, and this driving environment information (step S112). When this gear information is this forward gear and this first vehicle speed meets this preset condition, the in-vehicle device 10 controls at least one projection module 100 (projection modules 101, 102) to project this reminder driving trajectory (corresponding to the straight trajectories T0, T1) onto the ground Gf in front of the first vehicle 21 (step S113, as Figure 4 shown); when this gear information is this reverse gear and this first vehicle speed meets this preset condition, the in-vehicle device 10 controls at least one projection module 100 (projection modules 103, 104) to project this reminder driving trajectory (corresponding to the straight trajectories T2, T3) onto the ground Gb behind the first vehicle 21 (step S114, as Figure 5 shown).

[0057] In some embodiments, the in-vehicle device 10 establishes a channel with a driving computer (not shown in the figure) of the first vehicle 21 through the communication module 110 to receive this gear information, this first vehicle speed, this steering wheel information, etc. of the first vehicle 21, and inputs them to the processing module 120. In other embodiments, the in-vehicle device 10 directly detects this gear information, this first vehicle speed, this steering wheel information, etc. in the driving computer of the first vehicle 21 through the detection module 140, and inputs them to the processing module 120.

[0058] In some embodiments, this reminder driving trajectory includes at least one straight trajectory. Taking Figure 4 as an example, in this embodiment, this reminder driving trajectory includes the straight trajectories T0, T1. Taking Figure 5 as an example, in this embodiment, this reminder driving trajectory includes the straight trajectories T2, T3.

[0059] In some embodiments, the steering wheel information of the first vehicle 21 includes an angle value, and this angle value is between an angle range. In some embodiments, this angle value is the rotation angle of the steering wheel of the first vehicle 21 (hereinafter referred to as the first steering wheel), and when this first steering wheel is not rotated (i.e., in an initial state), this angle value is 0 degrees. Among them, when the driver of the first vehicle 21 controls this first steering wheel to continuously rotate to the left from this initial state, the absolute value of this angle value gradually increases and this angle value is negative; when the driver of the first vehicle 21 controls this first steering wheel to continuously rotate to the right from this initial state, the absolute value of this angle value gradually increases and this angle value is positive. In some embodiments, the positive and negative signs of this angle value represent the rotation direction of this first steering wheel, where the positive sign represents that this first steering wheel rotates to the right from this initial state, and the negative sign represents that this first steering wheel rotates to the left from this initial state.

[0060] Please refer to Table 1. Table 1 is a range list of some embodiments of the steering wheel information of the first vehicle 21. As shown in Table 1, in some embodiments, this angle range has a lower limit value, a first intermediate value, a second intermediate value, and an upper limit value, where this lower limit value is the first steering wheel rotating to the left from this initial state to the final maximum angle, and this upper limit value is the first steering wheel rotating to the right from this initial state to the final maximum angle. Taking Table 1 as an example, when this first steering wheel rotates to the left from this initial state, the maximum value of the rotation angle of this first steering wheel (i.e., this angle value) is 540 degrees. Also, when this first steering wheel rotates to the right from this initial state, the maximum value of the rotation angle of this first steering wheel (i.e., this angle value) is also 540 degrees.

[0061] [Table 1]

[0062] Lower limit value First relay value Second relay value Upper limit value -540 degrees -30 degrees 30 degrees 540 degrees

[0063] In some embodiments, the lower limit value and the upper limit value of this angle range are not limited to -540 degrees and 540 degrees. According to different vehicle models, the lower limit value and the upper limit value will change. For example, the steering wheel of a car can at most rotate 540 degrees to the left (i.e., one and a half turns to the left) or 540 degrees to the right (i.e., one and a half turns to the right), so the lower limit value of the angle range of the car is -540 degrees, and the upper limit value is 540 degrees. In contrast, the steering wheel of a large truck can at most rotate 900 degrees to the left (i.e., two and a half turns to the left) or 900 degrees to the right (i.e., two and a half turns to the right), so the lower limit value of the angle range of the large truck is -900 degrees, and the upper limit value is 900 degrees.

[0064] Please refer to Figures 1 to 9. In some embodiments, when the angle value of this steering wheel information of the first vehicle 21 is between this lower limit value and this first relay value, at least one straight-line trajectory is offset to the left by a first offset angle Ao1 with respect to a straight-line forward direction D1 of the first vehicle 21 or is offset to the right by a second offset angle Ao2 with respect to a straight-line backward direction D2 of the first vehicle 21. Herein, the straight-line forward direction D1 is the direction pointed by the first vehicle 21 when moving straight forward, and the straight-line backward direction D2 is the direction pointed by the first vehicle 21 when moving straight backward in reverse.

[0065] Taking Table 1, Figure 6 and Figure 7 as an example, when the angle value of this steering wheel information of the first vehicle 21 is between -540 degrees (lower limit value) and -30 degrees (first relay value), it represents that the first vehicle 21 intends to move forward or backward to the left. Therefore, when the gear information of the first vehicle 21 is this driving gear, the in-vehicle device 10 projects straight-line trajectories T0, T1 that are offset to the left by the first offset angle Ao1 (with respect to the straight-line forward direction D1) onto the ground Gf in front of the first vehicle 21 to indicate that the first vehicle 21 is going to move forward to the left front (as Figure 6 shown); when the gear information of the first vehicle 21 is this reverse gear, the in-vehicle device 10 projects straight-line trajectories T2, T3 that are offset to the right by the second offset angle Ao2 (with respect to the straight-line backward direction D2) onto the ground Gb behind the first vehicle 21 to indicate that the first vehicle 21 is going to move backward to the left rear (as Figure 7 shown).

[0066] In some embodiments, the first offset angle Ao1 and the second offset angle Ao2 may be the same (not shown in the figure) or may be different (as Figure 6 and Figure 7 shown). Among them, since it is relatively difficult for the driver to notice the conditions behind the vehicle, adjusting the second offset angle Ao2 to a larger value can enhance the effect of indicating the direction.

[0067] In some embodiments, when the angle value of this steering wheel information of the first vehicle 21 is between this first relay value and this second relay value, at least one straight-line trajectory is parallel to the direction of the body length Lv of the first vehicle 21. In some embodiments, the direction of the body length Lv of the first vehicle 21 is parallel to the straight-line forward direction D1 and the straight-line backward direction D2.

[0068] Taking Table 1, Figure 4 and Figure 5For example, when the angle value of this steering wheel information of the first vehicle 21 is between -30 degrees (the first relay value) and 30 degrees (the second relay value), it represents that the first vehicle 21 intends to move forward or backward in an almost straight line. Therefore, when the gear information of the first vehicle 21 is in this driving gear, the in-vehicle device 10 projects straight line trajectories T0, T1 parallel to the body length Lv of the first vehicle 21 (corresponding to the dotted line DL1) onto the ground Gf in front of the first vehicle 21 to indicate that the first vehicle 21 is going to move straight forward (as Figure 4 shown); when the gear information of the first vehicle 21 is in this reverse gear, the in-vehicle device 10 projects the straight line trajectories T2, T3 of the body length Lv of the first vehicle 21 (corresponding to the dotted line DL1) onto the ground Gb behind the first vehicle 21 to indicate that the first vehicle 21 is going to reverse straight (as Figure 5 shown).

[0069] In some embodiments, this first relay value and this second relay value are not limited to -30 degrees and 30 degrees. According to different vehicle models, this first relay value and this second relay value will change. For example, when the steering wheel of a passenger car is turned slightly (such as but not limited to 30 degrees), the passenger car can still maintain straight forward or straight backward movement. In contrast, since the steering wheel of a large truck is less sensitive, even when the steering wheel of a large truck is turned moderately (such as but not limited to 60 degrees), the large truck can still maintain almost straight forward or straight backward movement.

[0070] In some embodiments, when the angle value of this steering wheel information of the first vehicle 21 is between this second relay value and this upper limit value, at least one straight line trajectory is offset to the right by a first offset angle Ao1 with respect to the straight forward direction D1 or to the left by a second offset angle Ao2 with respect to the straight backward direction D2.

[0071] Taking Table 1, Figure 8 and Figure 9 as an example, when the angle value of this steering wheel information of the first vehicle 21 is between 30 degrees (the second relay value) and 540 degrees (the upper limit value), it represents that the first vehicle 21 intends to move forward or backward to the right. Therefore, when the gear information of the first vehicle 21 is in this driving gear, the in-vehicle device 10 projects straight line trajectories T0, T1 that are offset to the right by the first offset angle Ao1 (with respect to the straight forward direction D1) onto the ground Gf in front of the first vehicle 21 to indicate that the first vehicle 21 is going to move forward and to the right (as Figure 8 shown); when the gear information of the first vehicle 21 is in this reverse gear, the in-vehicle device 10 projects straight line trajectories T2, T3 that are offset to the left by the second offset angle Ao2 (with respect to the straight backward direction D2) onto the ground Gb behind the first vehicle 21 to indicate that the first vehicle 21 is going to reverse and to the right (as Figure 9 shown).

[0072] Please refer to Figures 1 to 3 、 Figure 10 and Figure 11 . In some embodiments, this reminder driving trajectory includes at least one curved trajectory, and at least one curved trajectory has a radius of curvature. Taking Figure 10 as an example, in this embodiment, this reminder driving trajectory includes curved trajectories T4 and T5. Taking Figure 11 as an example, in this embodiment, this reminder driving trajectory includes curved trajectories T6 and T7.

[0073] In some embodiments, this radius of curvature is related to the angular value of the steering wheel information of the first vehicle 21. Wherein, when the angular value is larger, the radius of curvature is smaller (i.e., the curvature of at least one curved trajectory is larger); when the angular value is smaller, the radius of curvature is larger (i.e., the curvature of at least one curved trajectory is smaller). In some embodiments, when the angular value is 0 degrees, it means that the radius of curvature of at least one curved trajectory is infinite (i.e., the curvature of at least one curved trajectory is 0), and at this time at least one curved trajectory is a straight-line trajectory (such as Figure 4 the straight-line trajectories T0 and T1 shown or Figure 5 the straight-line trajectories T2 and T3 shown).

[0074] Taking Figure 10 as an example, in this embodiment, when the first vehicle 21 wants to move forward to the left front, the in-vehicle device 10 projects the left-curved curved trajectories T4 and T5 onto the ground Gf in front of the first vehicle 21 to indicate that the first vehicle 21 wants to move forward to the left front. Taking Figure 11 as an example, in this embodiment, when the first vehicle 21 wants to reverse to the right rear, the in-vehicle device 10 projects the right-curved curved trajectories T6 and T7 onto the ground Gb behind the first vehicle 21 to indicate that the first vehicle 21 wants to reverse to the right rear.

[0075] In some embodiments, the radii of curvature of the curved trajectories T4 and T5 and the radii of curvature of the curved trajectories T6 and T7 may be the same (not shown in the figure), or may be different (as shown in Figure 10 and Figure 11 ). Among them, since it is relatively difficult for the driver to notice the conditions behind the vehicle, adjusting the radius of curvature of the curved trajectories T6 and T7 to a smaller value (i.e., adjusting the curvature of the curved trajectories T6 and T7 to a larger value) can improve the effect of indicating the direction.

[0076] Please refer to Figure 12, in this case, another vehicle-mounted device 10' is proposed, which is suitable for being installed on a first vehicle. The vehicle-mounted device 10' includes at least one projection module 100, at least one camera module 130, a communication module 110, a processing module 120, and a storage module 150. Among them, the processing module 120 is electrically connected to at least one projection module 100, at least one camera module 130, the communication module 110, and the storage module 150.

[0077] In some embodiments, the vehicle-mounted device 10' further includes a detection module 140 (as Figure 12 shown), where the detection module 140 is electrically connected to the first vehicle 21 and the processing module 120.

[0078] Please refer to Figure 12 and Figure 13 . As Figure 13 shown, when the vehicle-mounted device 10' starts to operate, the vehicle-mounted device 10' continuously detects the turn signal information of the first vehicle 21, where this turn signal information is selected from a left turn indication, a right turn indication, and a straight-ahead indication (step S200). Then, the vehicle-mounted device 10' judges what this turn signal information is through the processing module 120 (step S205). When it is judged that this turn signal information is this left turn indication or this right turn indication, the vehicle-mounted device 10' executes a projection step to project a recommended driving trajectory (step S210); when this turn signal information is this straight-ahead indication, the vehicle-mounted device 10' stops projecting this recommended driving trajectory (step S220). Finally, after step S210 or step S220, the vehicle-mounted device 10' judges again whether this turn signal information has changed (that is, executes step S205 again) and continues the subsequent steps.

[0079] Please refer to Figures 12 to 15 . In the first embodiment (step S210A) of this projection step, after the vehicle-mounted device 10' judges that this turn signal information is this left turn indication or this right turn indication, the vehicle-mounted device 10' receives the vehicle speed of the first vehicle 21 (hereinafter referred to as the first vehicle speed, step S211). Then, the vehicle-mounted device 10' captures a driving image when the first vehicle 21 is driving on a first lane L1 through at least one camera module 130, where this driving image includes an image of a second vehicle 22 (step S212). In some embodiments, the second vehicle 22 is driving on a second lane L2 and is located behind the first vehicle 21, and the second lane L2 is located to the left or right of the first lane L1.

[0080] After step S213, the in-vehicle device 10' calculates the vehicle speed of the second vehicle 22 (hereinafter referred to as the second vehicle speed) and a first vehicle distance between the first vehicle 21 and the second vehicle 22 based on the image of the second vehicle 22 through the processing module 120 (step S213). Then, the in-vehicle device 10' calculates a system driving trajectory based on the first vehicle speed, the second vehicle speed, and the first vehicle distance through the processing module 120 (step S214A). Subsequently, the in-vehicle device 10' stores this system driving trajectory in the storage module 150 through the processing module 120 as a corresponding historical driving trajectory (step S215A), and the function of this historical driving trajectory will be described later. Finally, the in-vehicle device 10' projects this system driving trajectory onto the second lane L2 through at least one projection module 100 (step S216A, corresponding to step S210).

[0081] Take Figure 15 as an example. When the first vehicle 21 wants to switch from the first lane L1 to the second lane L2 on the left, the driver of the first vehicle 21 activates the left turn signal of the first vehicle 21 (i.e., the left turn indication in the turn signal information of the first vehicle 21) to warn the second vehicle 22, where the second vehicle 22 is traveling on the second lane L2 and is behind the first vehicle 21. At this time, the in-vehicle device 10' receives this left turn indication and the first vehicle speed of the first vehicle 21. Then, the in-vehicle device 10' captures a driving image of the first vehicle 21 when it is traveling on the first lane L1 through the camera module 131 disposed at the rear of the first vehicle 21, and the driving image captured by the camera module 131 includes an image of the second vehicle 22. Subsequently, the in-vehicle device 10' calculates the second vehicle speed of the second vehicle 22 and the first vehicle distance between the first vehicle 21 and the second vehicle 22 based on the image of the second vehicle 22 through the processing module 120, and calculates the system driving trajectory based on the first vehicle speed, the second vehicle speed, and the first vehicle distance. Finally, the in-vehicle device 10' stores this system driving trajectory in the storage module 150 through the processing module 120 as a corresponding historical driving trajectory, and projects the system driving trajectory (linear trajectories T0, T1) onto the second lane L2 through the projection modules 101, 102.

[0082] Please refer to Figure 12 、 Figure 13 、 Figure 16 and Figure 17。In the second embodiment (step S210B) of this projection step, when the in-vehicle device 10' determines that this turn signal information is this left turn indication or this right turn indication, the in-vehicle device 10' receives the vehicle speed of the first vehicle 21 (hereinafter referred to as the first vehicle speed, step S211). Next, the in-vehicle device 10' captures a driving image when the first vehicle 21 is traveling on a first lane L1 through at least one camera module 130, wherein this driving image includes an image of a second vehicle 22 (step S212). Subsequently, the in-vehicle device 10' calculates the vehicle speed of the second vehicle 22 (i.e., the second vehicle speed) and the first vehicle distance between the first vehicle 21 and the second vehicle 22 based on the image of the second vehicle 22 through the processing module 120 (step S213), and determines whether there is a corresponding historical driving trajectory in the storage module 150 based on the first vehicle speed, the second vehicle speed, and the first vehicle distance through the processing module 120 (step S214B). Finally, when there is a corresponding historical driving trajectory in the storage module 150, the in-vehicle device 10' projects this historical driving trajectory onto the second lane L2 through at least one projection module 100 (step S215B, corresponding to step S210).

[0083] Please refer to Table 2. Table 2 is a storage list of some embodiments of the historical driving trajectories stored in the storage module 150, wherein the corresponding historical driving trajectories have a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

[0084] [Table 2]

[0085]

[0086] With Figure 17Taking

[0087] Figure Figure 12 and Figure 13 Table Figures 18 to 20 2 as an example, when the first vehicle 21 wants to switch from the first lane L1 to the second lane L2 on the right, the driver of the first vehicle 21 activates the right turn signal of the first vehicle 21 (i.e., the right turn indication in the turn signal information of the first vehicle 21) to alert the second vehicle 22, where the second vehicle 22 is traveling on the second lane L2 and is behind the first vehicle 21. At this time, the in-vehicle device 10' receives this right turn indication and the first vehicle speed of the first vehicle 21. Then, the in-vehicle device 10' captures a driving image of the first vehicle 21 traveling on the first lane L1 through the camera module 131 disposed at the rear of the first vehicle 21, where the driving image captured by the camera module 131 includes an image of the second vehicle 22. Subsequently, the in-vehicle device 10' calculates the second vehicle speed of the second vehicle 22 and the first vehicle distance between the first vehicle 21 and the second vehicle 22 based on the image of the second vehicle 22 through the processing module 120, and determines whether there is a corresponding historical driving trajectory in the storage module 150 according to the first vehicle speed, the second vehicle speed, and the first vehicle distance. Suppose the first vehicle speed obtained by the processing module 120 is 100 (km / hr), the second vehicle speed is 90 (km / hr), and the first vehicle distance is 300 meters (m). At this time, there is a corresponding historical driving trajectory in the storage module 150 (corresponding to trajectory 2 in Table 2). Therefore, the in-vehicle device 10' extracts trajectory 2 in Table 2 through the processing module 120 as this historical driving trajectory, and projects the historical driving trajectory (corresponding to the curve trajectories T8, T9) onto the second lane L2 through the projection modules 101, 102.

[0088] After step S213, the in-vehicle device 10' calculates the vehicle speed of the second vehicle 22 (hereinafter referred to as the second vehicle speed) and a first vehicle distance between the first vehicle 21 and the second vehicle 22 through the processing module 120 based on the image of the second vehicle 22 (step S213), and calculates a system driving trajectory based on the first vehicle speed, the second vehicle speed, and the first vehicle distance (step S214C). Subsequently, the in-vehicle device 10' calculates, through the processing module 120, a first safety distance Ds1 between the first vehicle 21 and the second vehicle 22 after the first vehicle 21 travels according to the corresponding historical driving trajectory and a second safety distance Ds2 between the first vehicle 21 and the second vehicle 22 after the first vehicle 21 travels according to the system driving trajectory (step S215C). Finally, the in-vehicle device 10' compares, through the processing module 120, the value of the first safety distance Ds1 with the value of the second safety distance Ds2 (step S216C), wherein when the value of the first safety distance Ds1 is greater than the value of the second safety distance Ds2, the in-vehicle device 10' projects the corresponding historical driving trajectory through at least one projection module 100; when the value of the first safety distance Ds1 is less than the value of the second safety distance Ds2, the in-vehicle device 10' projects the system driving trajectory through at least one projection module 100.

[0089] Taking Figure 19 、 Figure 20 and Table 2 as an example, where Figure 19 is a schematic diagram of the first vehicle 21 traveling according to the historical driving trajectory, Figure 20 is a schematic diagram of the first vehicle 21 traveling according to the system driving trajectory, and the historical driving trajectory is, for example but not limited to, trajectory 1 in Table 2. In this embodiment, the value of the first safety distance Ds1 between the first vehicle 21 and the second vehicle 22 after the first vehicle 21 travels according to the historical driving trajectory is less than the value of the second safety distance Ds2 between the first vehicle 21 and the second vehicle 22 after the first vehicle 21 travels according to the system driving trajectory. In other words, it is safer for the first vehicle 21 to travel according to the system driving trajectory than according to the historical driving trajectory. Therefore, the first vehicle 21 projects the system driving trajectory onto the second lane L2 through the projection modules 101 and 102 (not shown in the figure).

[0090] Please refer to Figure 12 、 Figure 13 、 Figure 21 and Figure 22 . In the fourth embodiment (step S210') of this projection step, the driving image captured by the in-vehicle device 10' includes an image of the second vehicle 22 and an image of a third vehicle 23 (step S212'), and the processing module 120 is further configured to calculate the vehicle speed of the third vehicle 23 (hereinafter referred to as the third vehicle speed) and a second vehicle distance between the first vehicle 21 and the third vehicle 23 based on the image of the third vehicle 23 (step S213'). Among them, the third vehicle 23 travels on the first lane L1 and is in front of the first vehicle 21.

[0091] In other words, when there are vehicles in front of or behind the first vehicle 21, the in-vehicle device 10' extracts the corresponding historical driving trajectory in the storage module 150 according to the first vehicle speed, the information of the vehicle behind (including the second vehicle speed and the first vehicle distance), and the information of the vehicle in front (including the third vehicle speed and the second vehicle distance) (corresponding to step S214B), calculates the system driving trajectory in real time according to the first vehicle speed, the information of the vehicle behind (including the second vehicle speed and the first vehicle distance), and the information of the vehicle in front (including the third vehicle speed and the second vehicle distance) (corresponding to steps S214A and S214C), or after calculating the first safety distance Ds1 between the first vehicle 21 and the second vehicle 22 when the first vehicle 21 travels according to the corresponding historical driving trajectory and the second safety distance Ds2 between the first vehicle 21 and the second vehicle 22 when the first vehicle 21 travels according to the system driving trajectory (corresponding to step S215C), compares the value of the first safety distance Ds1 with the value of the second safety distance Ds2 (corresponding to step S216C).

[0092] Take Figure 22 as an example. The first vehicle 21 is traveling on the first lane L1, the second vehicle 22 is traveling on the second lane L2 and is behind the first vehicle 21, and the third vehicle 23 is traveling on the second lane L2 and is in front of the first vehicle 21. When the first vehicle 21 wants to switch from the first lane L1 to the second lane L2, the driver of the first vehicle 21 activates the right turn signal of the first vehicle 21 (i.e., the right turn indication in the turn signal information of the first vehicle 21) to warn the second vehicle 22. At this time, the in-vehicle device 10' receives this right turn indication and the first vehicle speed of the first vehicle 21 (step S211), and captures a driving image of the first vehicle 21 traveling on the first lane L1 through the camera module 131 disposed at the rear of the first vehicle 21 and the camera module 132 disposed at the front of the first vehicle 21, wherein the driving images captured by the camera modules 131 and 142 include the images of the second vehicle 22 and the third vehicle 23 (step S212'). Subsequently, the in-vehicle device 10' calculates the information of the second vehicle 22 (including the second vehicle speed and the first vehicle distance) and the information of the third vehicle 23 (including the third vehicle speed and the second vehicle distance) through the processing module 120 (steps S213 and S213'), and continues with steps S214A, S214B or S214C to project the recommended driving trajectory (corresponding to the curved trajectories T8, T9) onto the second lane L2, wherein the recommended driving trajectory is selected from the system driving trajectory or the historical driving trajectory.

[0093] In some embodiments, Figure 14 、 Figure 16 and Figure 18The three embodiments shown (step S210A, step S210B, and step S210C) can be regarded as three modes for the vehicle-mounted device 10 to project a recommended driving trajectory, and the historical driving trajectory includes the system driving trajectory calculated by the vehicle-mounted device 10 in the past and the manual driving trajectory generated by the driver of the first vehicle 21 himself. In some embodiments, the system driving trajectory is stored in the storage module 150 through the process of step S210A as the historical driving trajectory. In other embodiments, when the driver of the first vehicle 21 drives manually without relying on the functions of the vehicle-mounted device 10, the vehicle-mounted device 10 generates a manual driving trajectory based on the information of the first vehicle 21 (such as moving direction, vehicle speed, etc.), and then stores this manual driving trajectory in the storage module 150 as the historical driving trajectory.

[0094] For example, when the driver of the first vehicle 21 is manually switching lanes or overtaking, the vehicle-mounted device 10 can record the route when the first vehicle 21 switches lanes or overtakes, and generate this manual driving trajectory based on the information of the first vehicle 21. In addition, in some embodiments, when there is already an old manual driving trajectory stored in the storage module 150 and the manual driving trajectory generated by the vehicle-mounted device 10 has the same information as the old manual driving trajectory (such as turn signal information, first vehicle speed, etc. in Table 2), the vehicle-mounted device 10 can replace the old manual driving trajectory with the new manual driving trajectory to update the driving habit of the driver of the first vehicle 21. In some embodiments, the vehicle-mounted device 10 can turn on / off its function of generating a manual driving trajectory at any time.

[0095] Herein, Figure 14 、 Figure 16 and Figure 18 All three embodiments shown can apply the historical driving trajectory stored in the storage module 150. The effects achieved by the vehicle-mounted device 10 under the operations of the three modes will be described separately below.

[0096] The first mode (corresponding to Figure 14 step S210A): The vehicle-mounted device 10 directly calculates the system driving trajectory as the recommended driving trajectory, and projects this recommended driving trajectory onto the ground through at least one projection module 100. In addition, the vehicle-mounted device 10 stores the calculated system driving trajectory in the storage module 150 as the corresponding historical driving trajectory.

[0097] The second mode (corresponding to Figure 16Step S210B): The vehicle-mounted device 10 extracts the corresponding historical driving trajectory in the storage module 150 as the recommended driving trajectory, and projects this recommended driving trajectory onto the ground through at least one projection module 100. The historical driving trajectory extracted by the vehicle-mounted device 10 can be the old system driving trajectory calculated by the vehicle-mounted device 10 via the first mode in the past, or the artificial driving trajectory generated by the driver of the first vehicle 21 driving the vehicle himself.

[0098] The third mode (corresponding to Figure 18 Step S210C): The vehicle-mounted device 10 compares the safety between the corresponding historical driving trajectory in the storage module 150 and the system driving trajectory calculated by the processing module 120. When it is safer for the first vehicle 21 to drive according to the historical driving trajectory (that is, the value of the first safety distance Ds1 is greater than the value of the second safety distance Ds2), the vehicle-mounted device 10 projects the historical driving trajectory onto the ground as the recommended driving trajectory; when it is safer for the first vehicle 21 to drive according to the system driving trajectory (that is, the value of the first safety distance Ds1 is less than the value of the second safety distance Ds2), the vehicle-mounted device 10 projects the system driving trajectory onto the ground as the recommended driving trajectory. It should be noted that in some embodiments, in view of the fact that the comparison between the old system driving trajectory and the new system driving trajectory using the same calculation model is meaningless, the vehicle-mounted device 10 only compares between the artificial driving trajectory and the system driving trajectory. In other words, in this embodiment, the historical driving trajectories used by the vehicle-mounted device 10 for comparison are all artificial driving trajectories and there are no old system driving trajectories.

[0099] In some embodiments, the vehicle-mounted device 10' establishes a channel through the communication module 110 with a driving computer (not shown in the figure) of the first vehicle 21 to receive the turn signal information, the first vehicle speed, etc. of the first vehicle 21, and inputs them into the processing module 120. In other embodiments, the vehicle-mounted device 10' directly detects the turn signal information, the first vehicle speed, etc. in the driving computer of the first vehicle 21 through the detection module 140, and inputs them into the processing module 120.

[0100] In some embodiments, the calculation method of the processing module 120 for calculating the second vehicle speed (or the third vehicle speed) and the first vehicle distance (or the second vehicle distance) according to the image of the second vehicle 22 (or the third vehicle 23) is well-known to those of ordinary skill in the technical field to which the present invention pertains (please refer to Taiwan Patent Publication No. TWI786960B or Taiwan Patent Publication No. TWI521484B), so it will not be elaborated here.

[0101] In some embodiments, the calculation method for the processing module 120 to calculate the driving trajectory of the system based on the first vehicle speed, the second vehicle speed, and the first vehicle distance, or the calculation method for calculating the driving trajectory of the system based on the first vehicle speed, the second vehicle speed, the third vehicle speed, the first vehicle distance, and the second vehicle distance is well-known to those with ordinary knowledge in the technical field to which the present invention pertains (please refer to Chinese Patent Publication No. CN110103956A or Chinese Patent Publication No. CN113581181B), so it will not be elaborated.

[0102] In some embodiments, the projection method for the projection module 100 to project the driving trajectory is well-known to those with ordinary knowledge in the technical field to which the present invention pertains (such as, but not limited to, the automotive headlight projection technology of Volkswagen or the dynamic ground projection technology of Texas Instruments), so it will not be elaborated.

[0103] In some embodiments, the system driving trajectory and the historical driving trajectory are straight trajectories (such as Figure 15 the straight trajectories T0 and T1 shown). In some other embodiments, the system driving trajectory and the historical driving trajectory are curved trajectories (such as Figure 17 the curved trajectories T8 and T9 shown).

[0104] In some embodiments, at least one projection module 100 can be a micro component with projection function, such as, but not limited to, a bulb-type projector, an LED projector, or a laser projector. Among them, in some embodiments, at least one projection module 100 can be embedded in the headlight module of the first vehicle 21 (such as Figures 4 to 11 the projection modules 101 - 104 shown). And in some other embodiments, at least one projection module 100 can be embedded in the body of the first vehicle 21 (not shown in the figure).

[0105] In some embodiments, the communication module 110 can be a hardware component with wired communication function or wireless communication function, such as, but not limited to, a Universal Serial Bus (USB) connector, a Type-C connector, a Lighting connector, a Wi-Fi chip, a Bluetooth chip, or a two-in-one wireless chip with both Wi-Fi function and Bluetooth function. In other words, the channel established between the communication module 110 and the first vehicle 21 can be a wired channel or a wireless channel.

[0106] In some embodiments, the processing module 120 may be a hardware component with computing and control functions, such as, but not limited to, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, a digital signal processor (DSP), a complex programmable logic device (CPLD), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or a microcontroller unit (MCU).

[0107] In some embodiments, the detection module 140 may be a hardware device with detection or data acquisition (DAQ) functions, such as, but not limited to, a detector, an on-board diagnostics (OBD) device, a DAQ system, or a DAQ interface card.

[0108] In some embodiments, at least one camera module 130 may be a photosensitive element for sensing an image and converting the image into an electrical signal, such as, but not limited to, a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor sensor (CMOS sensor). In some embodiments, at least one camera module 130 may be embedded in the front and / or rear of the first vehicle 21 (such as Figure 22 the camera modules 131 and 142 shown). In some other embodiments, at least one camera module 130 may be disposed on the front windshield and / or rear windshield of the first vehicle 21 (not shown in the figure).

[0109] In some embodiments, the storage module 150 may be a hardware component with read, write, and storage functions, such as, but not limited to, a non-volatile memory or a flash memory.

[0110] In summary, according to any embodiment, when an electric vehicle executes the function of automatic assisted driving (such as changing lanes or reverse parking), the on-vehicle device can project the driving trajectory of this electric vehicle onto the ground to achieve a warning effect, so that vehicles or pedestrians near this electric vehicle can immediately react to avoid danger. In addition, even for vehicles without ADAS function, the on-vehicle device can also assist in calculating a suitable driving trajectory and project this driving trajectory onto the ground, thereby achieving the same warning effect.

[0111] Although the present case has been disclosed as above with embodiments, it is not intended to limit the creation of the present case. Any person with ordinary knowledge in the technical field can make some modifications and changes without departing from the spirit and scope of the present disclosure. However, the said some modifications and changes are still within the scope of the patent application of the present case.

Claims

1. An in-vehicle device is provided on a first vehicle. Characterized in that, The in-vehicle device includes: At least one projection module for projecting a recommended driving trajectory; At least one camera module for capturing a driving image when the first vehicle is traveling on a first lane, wherein the driving image includes an image of a second vehicle traveling behind the first vehicle; A communication module for receiving a turn signal information and a first vehicle speed of the first vehicle, wherein the turn signal information is selected from a left turn indication, a right turn indication, and a straight-ahead indication; A processing module electrically connected to the at least one projection module, the at least one camera module, and the communication module for calculating a second vehicle speed of the second vehicle and a first vehicle distance between the first vehicle and the second vehicle based on the image of the second vehicle; And A storage module electrically connected to the processing module; Wherein, when the turn signal information is the left turn indication or the right turn indication, the processing module controls the at least one projection module to project the recommended driving trajectory onto a second lane, wherein the recommended driving trajectory is selected from a historical driving trajectory and a system driving trajectory; When the turn signal information is the straight-ahead indication, the processing module controls the at least one projection module to stop projecting the recommended driving trajectory onto the second lane.

2. The in-vehicle device according to claim 1, Characterized in that, The processing module is further configured to calculate the system driving trajectory based on the first vehicle speed, the second vehicle speed, and the first vehicle distance, and store the system driving trajectory in the storage module as the corresponding historical driving trajectory, wherein the recommended driving trajectory is the system driving trajectory.

3. The in-vehicle device according to claim 1, Characterized in that, When there is a corresponding historical driving trajectory in the storage module, the recommended driving trajectory is the corresponding historical driving trajectory; Wherein, the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

4. The in-vehicle device according to claim 1, Characterized in that, When there is a corresponding historical driving trajectory in the storage module, the processing module is further configured to calculate the system driving trajectory based on the first vehicle speed, the second vehicle speed, and the first vehicle distance. The processing module is further configured to calculate a first safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the historical driving trajectory and a second safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the system driving trajectory, and the processing module is further configured to compare the first safety distance with the second safety distance; Wherein, when the value of the first safety distance is greater than the value of the second safety distance, the recommended driving trajectory is the historical driving trajectory; When the value of the first safety distance is less than the value of the second safety distance, the recommended driving trajectory is the system driving trajectory; The corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

5. The vehicle-mounted device according to claim 1, characterized in that the driving image further includes an image of a third vehicle, the third vehicle is traveling on the first lane and in front of the first vehicle, and the processing module is further configured to calculate a third vehicle speed of the third vehicle and a second vehicle distance between the first vehicle and the third vehicle according to the image of the third vehicle; and the processing module is further configured to calculate the system driving trajectory according to the first vehicle speed, the second vehicle speed, the third vehicle speed, the first vehicle distance and the second vehicle distance; When there is a corresponding historical driving trajectory in the storage module, the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, a historical third vehicle speed corresponding to the third vehicle speed, a historical first vehicle distance corresponding to the first vehicle distance, and a historical second vehicle distance corresponding to the second vehicle distance.

6. A driving trajectory projection method, applicable to a vehicle-mounted device, the vehicle-mounted device is disposed on a first vehicle, characterized in that the driving trajectory projection method includes: receiving a turn signal information of the first vehicle, wherein the turn signal information is selected from a left turn indication, a right turn indication, and a straight-ahead indication; When the turn signal information is the left turn indication or the right turn indication, performing a projection step to project a recommended driving trajectory, wherein the projection step includes: receiving a first vehicle speed of the first vehicle; capturing a driving image when the first vehicle is traveling on a first lane, wherein the driving image includes an image of a second vehicle, the second vehicle is traveling on a second lane and behind the first vehicle, and the second lane is on the left or right of the first lane; calculating a second vehicle speed of the second vehicle and a first vehicle distance between the first vehicle and the second vehicle according to the image of the second vehicle; and projecting the recommended driving trajectory onto the second lane, wherein the recommended driving trajectory is selected from a historical driving trajectory and a system driving trajectory; and when the turn signal information is the straight-ahead indication, stopping projecting the recommended driving trajectory; wherein, the historical driving trajectory is stored in a storage module.

7. The driving trajectory projection method according to claim 6, characterized in that the projection step further includes: calculating the system driving trajectory according to the first vehicle speed, the second vehicle speed and the first vehicle distance; and storing the system driving trajectory into the storage module as the corresponding historical driving trajectory; Wherein, the recommended driving trajectory is the driving trajectory of the system.

8. The driving trajectory projection method according to claim 6, characterized in that when there is a corresponding historical driving trajectory in the storage module, the recommended driving trajectory is the corresponding historical driving trajectory; wherein, the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

9. The driving trajectory projection method according to claim 6, characterized in that when there is a corresponding historical driving trajectory in the storage module, the projection step further includes: calculating the driving trajectory of the system according to the first vehicle speed, the second vehicle speed and the first vehicle distance; calculating a first safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the corresponding historical driving trajectory and a second safety distance between the first vehicle and the second vehicle after the first vehicle travels according to the driving trajectory of the system; and comparing the value of the first safety distance with the value of the second safety distance; wherein, when the value of the first safety distance is greater than the value of the second safety distance, the recommended driving trajectory is the corresponding historical driving trajectory; when the value of the first safety distance is less than the value of the second safety distance, the recommended driving trajectory is the driving trajectory of the system; the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, and a historical first vehicle distance corresponding to the first vehicle distance.

10. The driving trajectory projection method according to claim 6, characterized in that the driving picture further includes an image of a third vehicle, the third vehicle is traveling on the first lane and is in front of the first vehicle, and the projection step further includes: calculating a third vehicle speed of the third vehicle and a second vehicle distance between the first vehicle and the third vehicle according to the image of the third vehicle; wherein, the driving trajectory of the system is calculated according to the first vehicle speed, the second vehicle speed, the third vehicle speed, the first vehicle distance and the second vehicle distance; when there is a corresponding historical driving trajectory in the storage module, the corresponding historical driving trajectory has a historical turn signal information corresponding to the turn signal information, a historical first vehicle speed corresponding to the first vehicle speed, a historical second vehicle speed corresponding to the second vehicle speed, a historical third vehicle speed corresponding to the third vehicle speed, a historical first vehicle distance corresponding to the first vehicle distance, and a historical second vehicle distance corresponding to the second vehicle distance.

11. An in-vehicle device is disposed on a first vehicle, characterized in that the in-vehicle device includes: at least one projection module for projecting a reminder driving trajectory; A communication module for receiving the first gear position information, a driving environment information and a steering wheel information of the first vehicle, wherein the gear position information is selected from a parking gear, a neutral gear, a driving gear and a reverse gear; At least one camera module for continuously capturing the driving environment information in its shooting direction; and A processing module electrically connected to the at least one projection module, the at least one camera module and the communication module for calculating the reminder driving trajectory according to the gear position information, the driving environment information and the steering wheel information; Wherein, when the gear position information is the driving gear, the processing module controls the at least one projection module to project the reminder driving trajectory onto the ground in front of the first vehicle; When the gear position information is the reverse gear, the processing module controls the at least one projection module to project the reminder driving trajectory onto the ground behind the first vehicle; When the gear position information is the parking gear or the neutral gear, the processing module controls the at least one projection module to stop projecting the reminder driving trajectory.

12. The vehicle-mounted device according to claim 11, characterized in that, The reminder driving trajectory includes at least one straight line trajectory.

13. The vehicle-mounted device according to claim 12, characterized in that, The steering wheel information includes an angle value, the angle value is between an angle range, and the angle range has a lower limit value, a first relay value, a second relay value and an upper limit value; When the angle value is between the lower limit value and the first relay value, the at least one straight line trajectory is offset by a first offset angle relative to a straight forward direction of the first vehicle or offset by a second offset angle relative to a straight backward direction of the first vehicle; When the angle value is between the first relay value and the second relay value, the at least one straight line trajectory is parallel to the direction of the body length of the first vehicle; When the angle value is between the second relay value and the upper limit value, the at least one straight line trajectory is offset by the first offset angle relative to the straight forward direction or offset by the second offset angle relative to the straight backward direction.

14. The vehicle-mounted device according to claim 11, characterized in that, The reminder driving trajectory includes at least one curved trajectory, and the at least one curved trajectory has a radius of curvature.

15. The vehicle-mounted device according to claim 14, characterized in that, The steering wheel information includes an angle value, the angle value is between an angle range, and the radius of curvature is related to the angle value; When the angle value is 0°, the at least one curved trajectory is a straight line trajectory.

16. A driving trajectory projection method applicable to a vehicle-mounted device, the vehicle-mounted device is arranged on a first vehicle, characterized in that, The driving trajectory projection method includes: Receiving the first gear position information, a driving environment information and a first vehicle speed of the first vehicle, wherein the gear position information is selected from a parking gear, a neutral gear, a driving gear and a reverse gear; When the gear information is the driving gear or the reverse gear and the first vehicle speed meets a preset condition, a projection step is executed to project a reminder driving trajectory, where the projection step includes: Receiving a steering wheel information of the first vehicle; Calculating the reminder driving trajectory according to the gear information, the driving environment information and the steering wheel information; When the gear information is the driving gear and the first vehicle speed meets the preset condition, projecting the reminder driving trajectory onto the ground in front of the first vehicle; And When the gear information is the reverse gear and the first vehicle speed meets the preset condition, projecting the reminder driving trajectory onto the ground behind the first vehicle; And When the gear information is the parking gear or the neutral gear, stop projecting the reminder driving trajectory.

17. The driving trajectory projection method according to claim 16, wherein, The reminder driving trajectory includes at least one straight line trajectory.

18. The driving trajectory projection method according to claim 17, wherein, The steering wheel information includes an angle value, the angle value is between an angle range, and the angle range has a lower limit value, a first intermediate value, a second intermediate value and an upper limit value; When the angle value is between the lower limit value and the first intermediate value, the at least one straight line trajectory is offset by a first offset angle with respect to a straight forward direction of the first vehicle or a straight backward direction of the first vehicle; When the angle value is between the first intermediate value and the second intermediate value, the at least one straight line trajectory is parallel to the direction of the body length of the first vehicle; When the angle value is between the second intermediate value and the upper limit value, the at least one straight line trajectory is offset by a second offset angle with respect to the straight forward direction or the straight backward direction.

19. The driving trajectory projection method according to claim 16, wherein, The reminder driving trajectory includes at least one curved trajectory, and the at least one curved trajectory has a radius of curvature.

20. The driving trajectory projection method according to claim 19, wherein, The steering wheel information includes an angle value, the angle value is between an angle range, and the radius of curvature is related to the angle value; When the angle value is 0°, the at least one curved trajectory is a straight line trajectory.

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