Vehicle projection equipment correction method and system, vehicle and storage medium

Abstract

The invention provides a correction method and system for vehicle projection equipment, a vehicle and a storage medium. The correction method of the vehicle projection equipment comprises the steps of determining actual projection ground information of the projection equipment; determining reference information of the projection equipment relative to the actual ground according to the actual projection ground information; and adjusting the projection equipment according to the reference information. According to the correction method of the vehicle projection equipment, the actual projection ground information of the projection equipment is firstly determined, the reference information of the projection equipment relative to the actual ground is determined according to the actual projection ground information, and the projection equipment is adaptively adjusted according to the specific reference information. When the vehicle is parked outdoors and located on an uneven or inclined road surface, the projection device can be synchronously adjusted according to the actual driving environment, the image projected by the projection device is prevented from inclining or distorting, adaptive adjustment can be conducted according to the actual driving environment, and the method and device can be suitable for more driving environments and are high in adaptability.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to a calibration method, system, vehicle, and storage medium for a vehicle projection device. Background Art

[0002] The vehicle projection device is installed on the vehicle body, and the position of the vehicle projection device and the projected image are calibrated before leaving the factory. When the vehicle is parked outdoors on an uneven or inclined road surface, the vehicle projection device will also tilt synchronously, which will cause the projected image of the vehicle projection device to tilt or distort. Therefore, the inherent mode of the calibration scheme adopted by the vehicle projection device has poor adaptability and cannot be applied to more driving environments. Summary of the Invention

[0003] This application provides an improved calibration method, system, vehicle, and storage medium for a vehicle projection device.

[0004] This application provides a calibration method for a vehicle projection device, including:

[0005] Determine the actual projection ground information of the projection device;

[0006] According to the actual projection ground information, determine the reference information of the projection device relative to the actual ground;

[0007] Adjust the projection device according to the reference information.

[0008] Optionally, the determining the actual projection ground information of the projection device includes:

[0009] Control the projection device to project a black and white chess calibration plate on the actual ground, where the black and white chess calibration plate includes a plurality of black squares and a plurality of white squares that are spaced apart in the meridional and latitudinal directions respectively;

[0010] Determine whether the black and white chess calibration plate is deformed;

[0011] When it is determined that the black and white chess calibration plate is deformed, further determine whether the amount of deformation of the black and white chess calibration plate is continuous; and

[0012] If the amount of deformation of the black and white chess calibration plate is continuous, determine that the actual ground is an inclined plane;

[0013] If the amount of deformation of the black and white chess calibration plate is not continuous, determine that there are obstacles on the actual ground.

[0014] Optionally, after determining that the actual ground is an inclined plane, the determining the reference information of the projection device relative to the actual ground according to the actual projection ground information includes:

[0015] Obtain the vehicle tilt angle of the vehicle relative to the inclined plane and the device state angle of the projection device relative to the vehicle;

[0016] Determine the device tilt angle of the projection device relative to the inclined plane according to the vehicle tilt angle and the device state angle; and

[0017] Determine the maximum value among the device tilt angles as the tilt angle of the projection device relative to the inclined plane.

[0018] Optionally, after determining that the actual ground is an inclined plane, the determining the reference information of the projection device relative to the actual ground according to the actual projection ground information includes:

[0019] Pre-control the projection device to project the black and white chess calibration plate within the inclined plane at preset different tilt angles to obtain multiple different black and white chess tilt images;

[0020] Obtain the deformed black and white chess deformed image; and

[0021] Compare the black and white chess deformed image with the multiple different black and white chess tilt images, and determine the tilt angle corresponding to one of the multiple different black and white chess tilt images as the tilt angle of the projection device relative to the inclined plane.

[0022] Optionally, the vehicle includes a rotating platform, and the projection device is assembled on the rotating platform; the adjusting the projection device according to the reference information includes:

[0023] Control the rotating platform to rotate by the tilt angle towards the inclined plane to drive the projection device to adjust the tilt angle relative to the inclined plane.

[0024] Optionally, the rotation direction of the rotating platform is the same as the tilt direction of the inclined plane relative to the ground.

[0025] The rotation angle of the rotating platform is the same as the tilt angle of the inclined plane relative to the ground.

[0026] Optionally, after determining that there are obstacles on the actual ground, the determining the reference information of the projection device relative to the actual ground according to the actual projection ground information includes:

[0027] Determine and mark the boundary line of the obstacle in the projection area.

[0028] Optionally, the projection device includes a display component; the adjusting the projection device according to the reference information includes:

[0029] Determining, according to the marked boundary line of the obstacle, a portion of the display components projected into the area of the obstacle; and

[0030] A certain portion of the display components is controlled to be turned off so that the projection image in the area of the obstacle is not displayed.

[0031] Optionally, the projection device includes an optical component; and adjusting the projection device according to the reference information includes:

[0032] Determine the maximum size of the projection image of the projection device according to the marked boundary line of the obstacle, and the edge of the maximum size of the projection image does not exceed the marked line;

[0033] The optical component is controlled to adjust the projection image of the projection device to a maximum size so that the projection area avoids the obstacle area.

[0034] The present application also provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the calibration method of the vehicle projection device as described in any one of the above embodiments is implemented.

[0035] The present application also provides a vehicle projection device calibration system, comprising: one or more processors, configured to implement the vehicle projection device calibration method as described in any one of the above embodiments.

[0036] The present application also provides a vehicle, comprising: a correction system for the vehicle projection device as described in the above embodiment.

[0037] The calibration method, system, vehicle and storage medium of the vehicle projection device of the embodiment of the present application. The calibration method of the vehicle projection device first determines the actual projection ground information of the projection device, determines the reference information of the projection device relative to the actual ground according to the actual projection ground information, and adaptively adjusts the projection device according to the specific reference information. When the vehicle is parked outdoors and on an uneven or inclined road surface, the projection device will also be synchronously adjusted according to the actual driving environment to avoid the image projected by the projection device from being tilted or distorted. The vehicle can be adaptively adjusted according to the actual driving environment, and can be applied to more driving environments, with strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Shown is a flow chart of an embodiment of a calibration method for a vehicle projection device of the present application.

[0039] Figure 2 Shown Figure 1 FIG. 1 is a flow chart of step S1 of a method for calibrating a vehicle projection device.

[0040] Figure 3 ShownFigure 1 Flowchart of another embodiment of the calibration method for the vehicle projection device shown

[0041] Figure 4 As shown Figure 1 Flowchart of another embodiment of the calibration method for the vehicle projection device shown

[0042] Figure 5 As shown Figure 1 Flowchart of yet another embodiment of the calibration method for the vehicle projection device shown

[0043] Figure 6 As shown Figure 1 Flowchart of another embodiment of the calibration method for the vehicle projection device shown

[0044] Figure 7 Shown is a schematic block diagram of an embodiment of the calibration system for the vehicle projection device of the present application Detailed implementation manners

[0045] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims

[0046] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. The terms "first", "second" and similar words used in the specification and claims of the present application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one. "Multiple" or "several" means at least two. Unless otherwise indicated, words such as "front", "rear", "lower" and / or "upper" are only for convenience of description and are not limited to one position or a spatial orientation. The words such as "comprising" or "including" mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. The words such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect

[0047] As used in the specification and appended claims of this application, the singular forms "a", "the", and "said" are also intended to include the plural forms, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0048] This application provides a calibration method for a vehicle projection device, including: determining the actual projection ground information of the projection device; determining the reference information of the projection device relative to the actual ground according to the actual projection ground information; and adjusting the projection device according to the reference information.

[0049] The calibration method, system, vehicle, and storage medium of the vehicle projection device according to the embodiments of this application. The calibration method of the vehicle projection device first determines the actual projection ground information of the projection device, determines the reference information of the projection device relative to the actual ground according to the actual projection ground information, and adaptively adjusts the projection device according to the specific reference information. When the vehicle is parked outdoors on an uneven or inclined road surface, the projection device will also be synchronously adjusted according to the actual driving environment, avoiding the image projected by the projection device from tilting or distorting, being able to make adaptive adjustments according to the actual driving environment, being applicable to more driving environments, and having strong adaptability.

[0050] The following will, with reference to the accompanying drawings, elaborate on the calibration method, system, vehicle, and storage medium of the vehicle projection device of this application. Without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0051] Figure 1 The following shows a flowchart of an embodiment of the calibration method of the vehicle projection device of this application. As Figure 1 shown, the calibration method of the vehicle projection device includes steps S1 to S3. Among them,

[0052] Step S1: Determine the actual projection ground information of the projection device. In this embodiment, the actual projection ground information of the projection device can be obtained by using the vehicle's camera. Or the actual projection ground information can also be determined by using the image projected by the projection device itself.

[0053] Step S2: Determine the reference information of the projection device relative to the actual ground according to the actual projection ground information. Different actual projection ground information results in different reference information of the projection device relative to the actual ground.

[0054] Step S3: Adjust the projection device according to the reference information. Different reference information leads to different parameters for adjusting the projection device. For example, some are to adjust the angle of the projection device, some are to adjust the components of the projection device, and some are to adjust the drive components that control the projection device. This is not limited in this application.

[0055] Calibration method, system, vehicle and storage medium of a vehicle projection device according to an embodiment of the present application. The calibration method of the vehicle projection device first determines the actual projection ground information of the projection device, determines the reference information of the projection device relative to the actual ground according to the actual projection ground information, and adaptively adjusts the projection device according to the specific reference information. When the vehicle is parked outdoors on an uneven or inclined road surface, the projection device will also be synchronously adjusted according to the actual driving environment to calibrate the projection device, avoiding the projected image of the projection device from tilting or distorting. It can be adaptively adjusted according to the actual driving environment, can be applied to more driving environments, and has strong adaptability.

[0056] Figure 2 As shown Figure 1 The flowchart of step S1 of the calibration method of the vehicle projection device shown. As Figure 2 shown, step S1: Determine the actual projection ground information of the projection device, including steps S11 to S15. Among them,

[0057] Step S11: Control the projection device to project a black and white chess calibration plate on the actual ground. The black and white chess calibration plate includes a plurality of black squares and a plurality of white squares that are spaced apart in the longitudinal and latitudinal directions respectively. In this embodiment, the projection device can be a holographic grating module. By using the holographic grating module to record the spatial position characteristics of the black and white chess calibration plate in the holographic grating module during the exposure process, and illuminating the holographic grating module with a light source during the projection process, the virtual image of the original black and white chess calibration plate can be effectively seen. The virtual image includes a plurality of black square virtual images and a plurality of white square virtual images that are spaced apart in the longitudinal and latitudinal directions respectively.

[0058] Step S12: Determine whether the black and white chess calibration plate is deformed. Under normal circumstances, if the projection device projects onto a flat ground, the edges of the plurality of white squares and the edges of the plurality of black squares of the black and white chess calibration plate are not easily deformed. If the projection device projects onto an uneven or inclined ground, the edges of the plurality of white squares and the edges of the plurality of black squares of the black and white chess calibration plate may be deformed. Therefore, by determining whether the black and white chess calibration plate is deformed, it is roughly determined whether the actual ground is flat or inclined.

[0059] Step S13: When it is determined that the black and white chess calibration plate is deformed, further determine whether the amount of deformation of the black and white chess calibration plate is continuous. If it is determined that the black and white chess calibration plate is deformed, it means that the actual ground projected by the projection device is uneven or inclined. Further, by determining whether the amount of deformation of the black and white chess calibration plate is continuous, it is accurately determined whether the actual ground is flat or inclined. If it is determined that the black and white chess calibration plate is not deformed, it means that the actual ground projected by the projection device is flat and not inclined, and the original projection can be performed.

[0060] Step S14: If the deformation of the black and white chess calibration plate is continuous, determine that the actual ground is an inclined plane. If the deformation of the black and white chess calibration plate is a continuous quantity, such as increasing or decreasing in sequence, at this time, determine that the actual ground is a flat ground, and more precisely, determine it as an inclined plane.

[0061] Step S15: If the deformation of the black and white chess calibration plate is not continuous, determine that there are obstacles on the actual ground. If the deformation of the black and white chess calibration plate is not a continuous quantity, such as suddenly jumping and becoming larger during the process of increasing in sequence, or suddenly jumping and becoming smaller during the process of decreasing in sequence, at this time, determine that the actual ground is uneven, and more precisely, determine that there are obstacles.

[0062] In the above solution, the black and white chess calibration plate projected onto the actual ground by the projection device is used as a calibration image or a reference image to accurately determine the type of the actual ground, with high accuracy, providing an accurate reference for subsequent adjustments.

[0063] Figure 3 As shown Figure 1 The flowchart of another embodiment of the calibration method of the vehicle projection device as shown. As Figure 3 shown, Step S2: According to the actual projection ground information, determine the reference information of the projection device relative to the actual ground, including Step S211 to Step S213. Step S3: Adjust the projection device according to the reference information, including Step S311. Step S211 to Step S213 are executed after Step S14 and before Step S311. Among them,

[0064] Step S211: Obtain the vehicle tilt angle of the vehicle relative to the inclined plane and the device state angle of the projection device relative to the vehicle. This step is executed after Step S14. Use the IMU unit of the vehicle to obtain the actual vehicle tilt angle of the vehicle relative to the inclined plane. This vehicle tilt angle can be the included angle on the X / Y / Z three axes. The device state angle of the projection device relative to the vehicle can be the calibration angle of the projection device relative to the vehicle before leaving the factory. This calibration angle can also be the included angle on the X / Y / Z three axes.

[0065] Step S212: Determine the device tilt angle of the projection device relative to the inclined plane according to the vehicle tilt angle and the device state angle. Using the obtained vehicle tilt angle and device state angle, the actual device tilt angle of the projection device relative to the inclined plane can be accurately obtained. This device tilt angle can be the included angle on the X / Y / Z three axes.

[0066] Step S213: Determine the maximum value among the device tilt angles as the tilt angle of the projection device relative to the inclined plane. When it is determined that the actual ground is an inclined plane, the change in its inclination is a continuous variable. By determining the maximum value among the device tilt angles as the tilt angle of the projection device relative to the inclined plane, it is ensured that the image projected by the subsequently adjusted projection device can be complete or non-tilted, improving the visual experience.

[0067] Step S3: Adjust the projection device according to the reference information, including Step S311. Step S311 is executed after Step S213. Among them, the vehicle includes a rotating platform, and the projection device is assembled on the rotating platform. The rotating platform drives the projection device to move horizontally and / or pitch.

[0068] Step S311: Control the rotating platform to rotate by the tilt angle towards the inclined plane to drive the projection device to adjust the tilt angle relative to the inclined plane. In this embodiment, according to the actually determined tilt angle of the projection device relative to the inclined plane, the rotating platform is controlled to drive the projection device to move to adapt to the actual inclined plane, ensuring that the image projected by the adjusted projection device can be complete or non-tilted, improving the visual experience.

[0069] In this embodiment, the rotation direction of the rotating platform is the same as the tilt direction of the inclined plane relative to the ground. For example, when it is detected that the actual inclined plane is tilted downward, the rotating platform is controlled to move downward. In this embodiment, the rotation angle of the rotating platform is the same as the tilt angle of the inclined plane relative to the ground. For example, when it is detected that the actual inclined plane is tilted by 5 degrees, the rotation angle of the rotating platform is also 5 degrees. In this embodiment, the rotation direction of the rotating platform is the same as the tilt direction of the inclined plane relative to the ground, and the rotation angle of the rotating platform is the same as the tilt angle of the inclined plane relative to the ground. For example, when it is detected that the actual inclined plane is tilted downward by 5 degrees, the rotation angle of the rotating platform is also tilted downward by 5 degrees.

[0070] In the above solution, when it is determined that the actual ground is an inclined plane, based on the actually determined tilt angle of the projection device relative to the inclined plane, the rotating platform of the hardware structure is controlled to drive the projection device to move to adapt to the actual inclined plane, ensuring that the image projected by the adjusted projection device can be complete or non-tilted, improving the visual experience.

[0071] Figure 4 As shown Figure 1 is a flowchart of another embodiment of the calibration method for the vehicle projection device as shown Figure 4 The embodiment as shown Figure 3The illustrated embodiment is similar. The main difference is that in step S2, according to the actual projection ground information, the reference information of the projection device relative to the actual ground is determined, including steps S221 to S223. In step S3, the projection device is adjusted according to the reference information, including step S311. Steps S211 to S213 are executed after step S14 and before step S311. Among them,

[0072] Step S221: Pre-control the projection device to project a black and white chess calibration plate on inclined planes with preset different inclination angles to obtain multiple different black and white chess inclined images. For example, pre-control the projection device in the database to project a black and white chess calibration plate on inclined planes with different inclination angles such as 5 degrees, 10 degrees, 15 degrees, etc. to obtain multiple different black and white chess inclined images. Among them, the black and white chess calibration plates projected by the projection device on inclined planes with different inclination angles such as 5 degrees, 10 degrees, 15 degrees, etc. are different.

[0073] Step S222: Obtain the deformed black and white chess deformed image. When the projection device projects the black and white chess calibration plate onto the inclined plane, the black and white chess calibration plate will be deformed, and at this time, the deformed black and white chess deformed image can be obtained.

[0074] Step S223: Compare the black and white chess deformed image with multiple different black and white chess inclined images, and determine the inclination angle corresponding to one of the multiple different black and white chess inclined images as the inclination angle of the projection device relative to the inclined plane. For example, after comparing the black and white chess deformed image with multiple different black and white chess inclined images, it is determined that the black and white chess inclined image with an inclination of 5 degrees has the highest similarity with the actually obtained black and white chess deformed image, so as to determine the inclination angle of the projection device relative to the inclined plane as 5 degrees, and thus the inclination angle of the inclined plane can be determined.

[0075] In the above solution, by comparing the obtained black and white chess deformed image with the pre-stored black and white chess inclined images at different angles, a black and white chess inclined image with a relatively high similarity to the obtained black and white chess deformed image is selected, and the inclination angle corresponding to the black and white chess inclined image is determined as the inclination angle of the inclined plane, so that the inclination angle of the inclined plane can be roughly obtained, and this method is simple. Figure 4 The illustrated embodiment is similar to Figure 3 the illustrated embodiment. After determining the inclination angle of the projection device relative to the inclined plane, by controlling the rotating platform of the hardware structure, the projection device is driven to move to adapt to the actual inclined plane. For the specific method of adjusting the projection device, reference can be specifically made to Figure 3 the illustrated embodiment. With such a setting, it is ensured that the image projected by the adjusted projection device can be complete or not inclined, improving the visual experience.

[0076] Figure 5 As shown inFigure 1 Flowchart of another embodiment of the calibration method for the vehicle projection device shown. As Figure 5 shown, in step S2, according to the actual projection ground information, determine the reference information of the projection device relative to the actual ground, including step S231. In step S3, adjust the projection device according to the reference information, including steps S321 to S322. Step S231 is executed after step S15 and before step S321.

[0077] Among them,

[0078] Step S231: Determine and mark the boundary line of the obstacle in the projection area. After determining that there is an obstacle on the actual ground, the camera of the vehicle can be used to determine the type of the obstacle. For example, the obstacle can be a building or a cliff higher than the ground, or it can be a deep pit lower than the ground, etc. The holographic grating structure can be used to determine the boundary line of the above obstacles and mark the boundary line.

[0079] Step S321: Determine the partial display components within the area projected onto the obstacle according to the marked boundary line of the obstacle. The projection device is provided with a display component for displaying an image in the external environment. According to the already determined boundary line of the obstacle, accurately determine the partial display components within the area projected onto the obstacle.

[0080] Step S322: Control the determined partial display components to turn off so that the projection image within the area of the obstacle is not displayed. By controlling the determined partial display components, the projection image within the area of the obstacle is not displayed, improving the viewing experience.

[0081] In the above solution, according to the already determined boundary line of the obstacle, accurately determine the partial display components within the area projected onto the obstacle. By controlling the partial display components, the projection image within the area of the obstacle is not displayed, improving the viewing experience.

[0082] Figure 6 Shown as Figure 1 Flowchart of another embodiment of the calibration method for the vehicle projection device shown. As Figure 6 The embodiment shown is similar to the Figure 5 embodiment shown. The main difference is that in step S3, when adjusting the projection device according to the reference information, it further includes steps S331 to S332. Step S331 is executed after step S231. Among them, steps S321 to S322 and steps S331 to S332 are alternatively selected to be executed after step S231.

[0083] Step S331: According to the marked boundary line of the obstacle, the maximum size of the projection image of the projection device is determined, and the edge of the maximum size projection image does not exceed the marking line. According to the marked boundary line of the obstacle, the maximum size of the projection image of the projection device is accurately determined, so that the edge of the maximum size projection image does not exceed the marking line.

[0084] Step S332, control the optical component to adjust the projected image of the projection device to the maximum size, so that the projection area avoids the obstacle area. The projection device is provided with an optical component. The optical component can adjust the size of the projected image. By controlling the optical component, the projected image of the projection device is accurately adjusted to the maximum size, so that the projection area avoids the obstacle area and the image is complete.

[0085] In some other embodiments, the angle of the projection device can also be adjusted by controlling the center console to calibrate the projection device to obtain a satisfactory projection position. To facilitate user groups with different usage habits, two modes are split into automatic adjustment and manual adjustment; for manual adjustment, users can control the projection graphics in the X / Y direction of the vehicle through the control interface entrance; for automatic adjustment, users can set it with one click; at the same time, the function is set with projection position memory, which can remember the user's projection angle and position.

[0086] Figure 7 FIG. 1 is a schematic diagram showing a principle block diagram of an embodiment of a correction system for a vehicle projection device of the present application. Figure 7 As shown, the present application also provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the above Figures 1 to 6 The calibration method of the vehicle projection device described in the embodiment. In some embodiments, the computer-readable storage medium may be an internal storage unit of the aforementioned vehicle, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the vehicle, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the vehicle and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required for the vehicle, and may also be used to temporarily store data that has been output or is to be output. From a hardware perspective, such as Figure 7 As shown, it is a hardware structure diagram of the vehicle in which the processor of the present application is located, except Figure 7 In addition to the processor, memory, network interface, and non-volatile memory, the vehicle in which the adjustment system is located in the embodiment may also include other hardware according to the actual functions of the vehicle, which will not be described in detail.

[0087] The present application also provides a calibration system for a vehicle projection device, including: one or more processors for implementing the calibration method of the vehicle projection device according to any one of the embodiments as described above. Figures 1 to 6 For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can refer to the partial descriptions of the method embodiments. The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the present application. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0088] The vehicle includes a calibration system for the vehicle projection device. The vehicle uses the calibration system for the vehicle projection device to implement Figures 1 to 6 the calibration method of the vehicle projection device according to any one of the above. The present application combines the vehicle's own sensors, cameras, millimeter-wave radars, etc. to collect the vehicle's surrounding environment and the vehicle's own state, forms a lamp control system through the optical components and the display components of the vehicle body, and after realizing the autonomous detection of the external environment of the vehicle, adaptively selects appropriate modes (distance, brightness) for projection. To ensure the image quality of the vehicle projection image, in the above-mentioned scenarios, the existing sensors of the vehicle are used to confirm the vehicle's surrounding environment and eliminate the influence of the vehicle's attitude on the vehicle projection. When the vehicle is parked outdoors on an uneven or inclined road surface, the projection device will also be synchronously adjusted according to the actual driving environment to avoid the image projected by the projection device from tilting or distorting, and can be adaptively adjusted according to the actual driving environment, which can be applied to more driving environments, has strong adaptability, and improves the visual experience and user experience. It can also improve the integrity, authenticity, and accuracy of the vehicle's two-dimensional projection image information; can enhance the intelligent attributes of the vehicle, so that the two-dimensional projection image can cope with more driving environments; applies the existing hardware of the vehicle and improves the display effect through software capabilities; on the premise of limited hardware investment, improves the broader user benefits; for the clearer information display of vehicle projection interaction, improves the attention and readability; can also improve vehicle interaction and achieve the ultimate pursuit of vehicle intelligent interaction, enhancing the brand power.

[0089] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A calibration method for a vehicle projection device, characterized in that, Including: Determine the actual projection ground information of the projection device; Determine the reference information of the projection device relative to the actual ground according to the actual projection ground information; Adjust the projection device according to the reference information.

2. The calibration method according to claim 1, characterized in that The determining the actual projection ground information of the projection device includes: Control the projection device to project a black and white chess calibration plate on the actual ground, where the black and white chess calibration plate includes a plurality of black squares and a plurality of white squares that are spaced apart in the longitudinal and latitudinal directions respectively; Judge whether the black and white chess calibration plate is deformed; When it is determined that the black and white chess calibration plate is deformed, further judge whether the amount of deformation of the black and white chess calibration plate is continuous; and If the amount of deformation of the black and white chess calibration plate is continuous, determine that the actual ground is an inclined plane; If the amount of deformation of the black and white chess calibration plate is not continuous, determine that there are obstacles on the actual ground.

3. The calibration method according to claim 2, wherein After determining that the actual ground is an inclined plane, the determining the reference information of the projection device relative to the actual ground according to the actual projection ground information includes: Obtain the vehicle tilt angle of the vehicle relative to the inclined plane and the device state angle of the projection device relative to the vehicle; Determine the device tilt angle of the projection device relative to the inclined plane according to the vehicle tilt angle and the device state angle; and Determine the maximum value among the device tilt angles as the tilt angle of the projection device relative to the inclined plane.

4. The calibration method according to claim 2, wherein After determining that the actual ground is an inclined plane, the determining the reference information of the projection device relative to the actual ground according to the actual projection ground information includes: Pre-control the projection device to project the black and white chess calibration plate in the inclined plane with preset different tilt angles to obtain a plurality of different black and white chess inclined images; Obtain the deformed black and white chess image after deformation; and Compare the deformed black and white chess image with the plurality of different black and white chess inclined images, and determine the tilt angle corresponding to one of the plurality of different black and white chess inclined images as the tilt angle of the projection device relative to the inclined plane.

5. The calibration method according to claim 3 or 4, characterized in that The vehicle includes a rotating platform, and the projection device is assembled on the rotating platform; the adjusting the projection device according to the reference information includes: Control the rotating platform to rotate by the tilt angle towards the inclined plane to drive the projection device to adjust the tilt angle relative to the inclined plane.

6. The calibration method according to claim 5, wherein The rotation direction of the rotating platform is the same as the tilt direction of the inclined plane relative to the ground; and / or The rotation angle of the rotating platform is the same as the tilt angle of the inclined plane relative to the ground.

7. The calibration method according to claim 2, characterized in that After determining that there are obstacles on the actual ground, the determining the reference information of the projection device relative to the actual ground according to the actual projection ground information includes: Determine and mark the boundary line of the obstacle in the projection area.

8. The calibration method according to claim 7, wherein The projection device includes a display component; the adjusting the projection device according to the reference information includes: Determine the part of the display component projected into the area of the obstacle according to the marked boundary line of the obstacle; and Control the determined part of the display component to turn off, so that the projected image within the area of the obstacle is not displayed.

9. The calibration method according to claim 7, wherein, The projection device includes an optical component; adjusting the projection device according to the reference information includes: Determine the maximum size of the projected image of the projection device according to the boundary line of the marked obstacle, and the edge of the projected image with the maximum size does not exceed the marked line; Control the optical component to adjust the projected image of the projection device to the maximum size, so that the projection area avoids the obstacle area.

10. A computer-readable storage medium, characterized in that, A program is stored thereon, and when the program is executed by a processor, the calibration method of the vehicle projection device according to any one of claims 1 to 9 is implemented.

11. A calibration system for a vehicle projection device, characterized in that, Including: One or more processors for implementing the calibration method of the vehicle projection device according to any one of claims 1 to 9.

12. A vehicle, characterized in that, Including: The calibration system of the vehicle projection device according to claim 11.

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