Light-emitting device projection image determination method and light-emitting device projection control method
By determining the overlapping projection area of the light-emitting devices and using a grayscale adjustment matrix to correct the initial bitmap to be projected, the problem of uneven brightness in the projection of multiple light-emitting devices was solved, achieving seamless fusion of projection brightness and improved image quality.
Patent Information
- Application Number
- CN202511178924.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-21
- Publication Date
- 2025-11-28
AI Technical Summary
In the projection process of multiple existing light-emitting devices, uneven brightness in the projection area is a common problem.
By acquiring the initial bitmaps to be projected corresponding to each of the multiple light-emitting devices, the overlapping area of the projection is determined, and the initial bitmaps to be projected are corrected based on the grayscale adjustment matrix to obtain the target image to be projected.
It achieves seamless integration of the projection brightness of the light-emitting device, significantly improves the projection image quality, and eliminates brightness differences.
Smart Images
Figure CN121037540A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of lighting, and specifically provides a light emitting device projection image determination method and a light emitting device projection control method. BACKGROUND
[0002] At present, high-definition pixel light source process technology is gradually mature, and this type of light source is gradually applied to automobile lighting, which not only improves the lighting performance, but also can have high-pixel projection function. Due to the influence of the modeling and optical characteristics of the vehicle headlamp, the illumination and projection range of a single lamp is limited, in order to achieve better projection visual effect, double lamps are usually used for projection to expand the projection range.
[0003] However, in the projection process of multiple light emitting devices such as double lamp projection, the problems of non-uniform brightness of the projection area and deformation of the pattern are prone to occur. SUMMARY
[0004] The present application aims to solve the above technical problems, that is, to solve the problem of non-uniform brightness of the projection area in the projection process of multiple light emitting devices.
[0005] In a first aspect, the present application provides a light emitting device projection image determination method, comprising:
[0006] Based on the preset projection area, an initial projection bitmap corresponding to each of the multiple light emitting devices is obtained, and the projection areas of the multiple light emitting devices overlap.
[0007] For the initial projection bitmap corresponding to each light emitting device, the overlapping light emitting area of the projection overlapping area of the multiple light emitting devices in the current initial projection bitmap is determined, the gray scale adjustment matrix of the overlapping light emitting area is obtained, and the initial projection bitmap is corrected based on the gray scale adjustment matrix to obtain a target projection bitmap.
[0008] In some embodiments, obtaining the initial projection bitmap corresponding to each of the multiple light emitting devices based on the preset projection area comprises:
[0009] A conversion matrix between the coordinate system in which the preset projection area is located and the light source plane coordinate system of the multiple light emitting devices is obtained.
[0010] The preset projection area is converted to the light source plane coordinate system of the multiple light emitting devices based on the conversion matrix and filled with gray values to obtain the initial projection bitmap corresponding to each of the multiple light emitting devices.
[0011] In some embodiments, obtaining the conversion matrix between the coordinate system in which the preset projection area is located and the light source plane coordinate system of the multiple light emitting devices comprises:
[0012] A world coordinate system is established;
[0013] For each light emitting device, obtain projection position information of the current light emitting device in the world coordinate system;
[0014] Based on the position information of the current light emitting device in the light source plane coordinate system and the projection position information in the world coordinate system, obtain the conversion matrix.
[0015] In some embodiments, the method further comprises:
[0016] Obtain relative position information of the current light emitting device relative to the origin of the world coordinate system, relative height relative to the preset projection area, and horizontal pitch angle and field of view angle of the current light emitting device;
[0017] Based on the relative position information, the relative height, the horizontal pitch angle, and the field of view angle, obtain the projection position information of the current light emitting device in the world coordinate system by using the geometric position relationship between the current light emitting device and the projection outline vertex of the current light emitting device in the world coordinate system.
[0018] In some embodiments, the method further comprises compensating the horizontal pitch angle to obtain the projection position information of the current light emitting device in the world coordinate system based on the compensated horizontal pitch angle.
[0019] In some embodiments, before converting the preset projection area to the light source plane coordinate system of each light emitting device based on the conversion matrix and filling in the gray value, the method further comprises:
[0020] Interpolate the preset projection area by using a polygon interpolation algorithm to convert the interpolated preset projection area to the light source plane coordinate system of each light emitting device based on the conversion matrix and fill in the gray value.
[0021] In some embodiments, determining the overlapping light emitting area of the projection overlapping area of the plurality of light emitting devices in the current initial to-be-projected bitmap comprises:
[0022] Obtain the vertex coordinates of the side close to the current light emitting device in the light source plane of the adjacent light emitting device;
[0023] Based on the vertex coordinates and the conversion matrix, obtain the boundary projection coordinates of the vertex coordinates in the light source plane coordinate system of the current light emitting device;
[0024] Based on the frame close to the adjacent light emitting device on one side of the current initial to-be-projected bitmap and the boundary projection coordinates, determine the overlapping light emitting area of the projection overlapping area of the plurality of light emitting devices in the current initial to-be-projected bitmap.
[0025] In a second aspect, the application provides a light emitting device projection control method applied to a driving device, the driving device comprising a plurality of light emitting devices with overlapping projection areas, the method comprising:
[0026] determining a target image to be projected for each of the plurality of light emitting devices respectively by any of the above methods;
[0027] controlling the plurality of light emitting devices to project based on the target image to be projected for each of the plurality of light emitting devices respectively.
[0028] In a third aspect, the application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to implement any of the above light emitting device projection image determination methods or the light emitting device projection control method.
[0029] In a fourth aspect, the application provides a driving device comprising:
[0030] at least one processor;
[0031] and a memory in communication connection with the at least one processor;
[0032] wherein the memory stores a computer program, the computer program being executed by the at least one processor to implement any of the above light emitting device projection image determination methods or the light emitting device projection control method.
[0033] In the case of using the above technical solutions, the application can achieve the following beneficial effects:
[0034] By determining the overlapping light emitting area of the projection overlapping area of the plurality of light emitting devices in the current initial image to be projected based on the initial image to be projected corresponding to each light emitting device, obtaining the gray scale adjustment matrix of the overlapping light emitting area, and modifying the initial image to be projected based on the gray scale adjustment matrix, it is beneficial to adaptively adjust the gray scale value, effectively eliminate the brightness difference, realize seamless fusion of the projection brightness of different light emitting devices, and significantly improve the projection quality.
[0035] In addition, by determining the projection position information of the light emitting device in the world coordinate system based on the relative position information of the current light emitting device relative to the origin of the world coordinate system and the relative height relative to the preset projection area, on the one hand, it is beneficial to automatically and conveniently obtain the projection position information, and on the other hand, it is beneficial to dynamically adjust in real time based on the loading conditions such as the pitch angle of the vehicle body, and the conversion matrix can also be adaptively adjusted based on different loading conditions, so as to adapt to various scenes and projection requirements. BRIEF DESCRIPTION OF DRAWINGS
[0036] The preferred embodiments of this application are described below with reference to the accompanying drawings, in which:
[0037] Figure 1 This is a flowchart illustrating a method for determining a projected image from a light-emitting device, as provided in an embodiment of this application.
[0038] Figure 2 This is a schematic diagram of the projection of the light-emitting device provided in this application;
[0039] Figure 3 This is an initial bitmap to be projected for a light-emitting device provided in an embodiment of this application;
[0040] Figure 4 This is a schematic flowchart of the execution method of step S11 provided in the embodiments of this application;
[0041] Figure 5 This is a schematic diagram of the vehicle provided in this application;
[0042] Figure 6 yes Figure 5 A schematic diagram of the projection of a light-emitting device;
[0043] Figure 7 This is a schematic flowchart of the method for determining the overlapping light-emitting region provided in the embodiments of this application;
[0044] Figure 8 This is the initial bitmap to be projected for the dual headlights of a vehicle provided in this application embodiment;
[0045] Figure 9 This is a schematic flowchart of a projection control method for a light-emitting device provided in an embodiment of this application. Detailed Implementation
[0046] Some embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application.
[0047] See Figure 1 As shown, Figure 1 This is a flowchart illustrating a method for determining a projected image from a light-emitting device according to an embodiment of this application, which may include:
[0048] Step S11: Obtain the initial bitmap to be projected for each of the multiple light-emitting devices based on the preset projection area, and the projection areas of the multiple light-emitting devices overlap.
[0049] Step S12: for each initial to-be-projected bitmap corresponding to a light emitting device, determining an overlapping light emitting region of the projection overlapping region of the plurality of light emitting devices in the current initial to-be-projected bitmap, obtaining a gray scale adjustment matrix of the overlapping light emitting region, and correcting the initial to-be-projected bitmap based on the gray scale adjustment matrix to obtain a target to-be-projected image.
[0050] In the embodiments of the present application, the preset projection region is a region pre-set based on projection requirements, and specific details can be referred to in FIG. 1. Figure 2 Figure 2 FIG. 1 is a schematic diagram of light emitting device projection provided by the present application, which shows that two light emitting devices can be set, and the two light emitting devices project respectively, each light emitting device corresponds to a different projection region, and the projection regions of the two light emitting devices overlap.
[0051] The shape of the projection region obtained after projection based on the initial to-be-projected bitmap of the plurality of light emitting devices is the same as the shape of the preset projection region. In some embodiments, the gray scale values of each pixel in each light emitting device can be the same, and the gray scale values of the initial to-be-projected bitmap of different light emitting devices are also the same. As an example, the gray scale values of each pixel point in the initial to-be-projected bitmap of the plurality of light emitting devices can be set to 255.
[0052] Referring to FIG. 2, Figure 3 Figure 3 FIG. 2 is an initial to-be-projected bitmap of a light emitting device provided by an embodiment of the present application, which can include an overlapping light emitting region and a non-overlapping light emitting region. The projection of the overlapping light emitting region of the plurality of light emitting devices overlaps to form a projection overlapping region.
[0053] In some embodiments, the gray scale adjustment matrix of each light emitting device can be determined with the overall projection brightness of the plurality of light emitting devices in the preset projection region being uniform as a target. In some embodiments, a gradient value adjustment model can be used to set an adjustment coefficient based on the distance between each pixel point in the overlapping light emitting region relative to the boundary line between the overlapping light emitting region and the non-overlapping light emitting region, and then the gray scale adjustment matrix is obtained.
[0054] In other embodiments, the gray scale adjustment proportion can also be directly determined based on the gray scale adjustment matrix, such as Figure 2 In the two light emitting devices in FIG. 3, the gray scale adjustment proportion can be flexibly allocated in combination with specific scenes, and when the gray scale values filled in the initial to-be-projected bitmap of the two light emitting devices are the same, the gray scale adjustment proportion corresponding to the overlapping light emitting region of one of the light emitting devices is 20%, and the gray scale adjustment proportion corresponding to the overlapping light emitting region of the other light emitting device is 80%.
[0055] The method determines the overlapping light-emitting areas of the projection overlapping areas of the plurality of light-emitting devices in the current initial to-be-projected bitmap by corresponding to each light-emitting device, obtains a gray scale adjustment matrix of the overlapping light-emitting areas, and corrects the initial to-be-projected bitmap based on the gray scale adjustment matrix, which is beneficial to adaptively adjusting the gray scale value, effectively eliminating the brightness difference, realizing seamless fusion of the projection brightness of different light-emitting devices, and significantly improving the projection quality.
[0056] In some embodiments, referring to Figure 4 , the method for determining the projection image of the light-emitting device comprises the following steps: Figure 4 is a flowchart of an execution method of step S11 provided by the embodiments of the present application, which can comprise:
[0057] Step S111: obtaining a conversion matrix between a coordinate system in which a preset projection area is located and a light source plane coordinate system of a plurality of light-emitting devices.
[0058] Step S112: converting the preset projection area to the light source plane coordinate system of the plurality of light-emitting devices based on the conversion matrix and filling the gray scale value to obtain an initial to-be-projected bitmap corresponding to each of the plurality of light-emitting devices.
[0059] In some embodiments, the coordinate system in which the preset projection area is located can be a world coordinate system, and the light source plane coordinate system of the light-emitting device can be a pixel coordinate system.
[0060] Step S111 can be specifically:
[0061] establishing a world coordinate system; for each light-emitting device, obtaining projection position information of the current light-emitting device in the world coordinate system; and based on the position information of the current light-emitting device in the light source plane coordinate system and the projection position information in the world coordinate system, obtaining the conversion matrix.
[0062] In some embodiments, the world coordinate system can be flexibly established according to the actual application scene. As an example, when the light-emitting device projection image determination method provided by the present application is applied to a vehicle, referring to Figure 5 , the method for determining the projection image of the light-emitting device comprises the following steps: Figure 5 is a schematic diagram of a vehicle provided by the present application, which can be provided with two light-emitting devices located on the front side of the vehicle: a left front side vehicle lamp and a right front side vehicle lamp, and a world coordinate system can be established with the center of the front axle of the vehicle as the origin O of the world coordinate system, wherein the direction parallel to the front axle is the y axis, and the direction perpendicular to the y axis and pointing to the forward driving direction of the vehicle is the x axis direction.
[0063] In some embodiments, for each light-emitting device, the projection position information of the current light-emitting device in the world coordinate system can be directly obtained by a measurement method.
[0064] In other embodiments, for each light-emitting device, obtaining the projection position information of the current light-emitting device in the world coordinate system can be as follows:
[0065] Obtain the relative position information of the current light-emitting device with respect to the origin of the world coordinate system, its relative height with respect to the preset projection area, and the horizontal pitch angle and field of view of the current light-emitting device.
[0066] Based on relative position information, relative height, horizontal pitch angle, and field of view, the projected position information of the current emitting device in the world coordinate system is obtained by utilizing the geometric positional relationship between the current emitting device and the vertex of the projected profile of the current emitting device in the world coordinate system.
[0067] See Figure 6 As shown, Figure 6 yes Figure 5 A schematic diagram of a projection of a light-emitting device. The relative position of the light-emitting device with respect to the origin of the world coordinate system can be represented as (x0, y0), its relative height with respect to the preset projection area can be represented as h, the current horizontal pitch angle of the light-emitting device can be represented as α (not shown in the figure), and the field of view (not shown in the figure) can include the horizontal field of view. and vertical field of view
[0068] In some embodiments, when only the lower half of the light-emitting device is displayed, such as Figure 6 As shown, the projection position information of the current light-emitting device in the world coordinate system can be obtained based on the geometric positional relationship between the four light-emitting points (A, B, C, D) in the current light-emitting device and the vertices (A', B', C', D') of the projection contour of the four light-emitting points in the world coordinate system. Points A and B are located on the center line of the light-emitting device parallel to the y-axis.
[0069] Furthermore, the projected position information of the current emitting device in the world coordinate system can be obtained using the following expression, based on relative position information, relative height, horizontal pitch angle, and field of view angle, and utilizing the geometric positional relationship between the current emitting device and the vertex of its projected profile in the world coordinate system:
[0070] Where (x below ground, y below ground) corresponds to the coordinates of the projected contour vertices A' and D' in the world coordinate system.
[0071] Among them, (x 地面中 y 地面 The coordinates of the projected contour vertices C' and D' in the world coordinate system are shown in the middle.
[0072] In some embodiments, based on the position information of the four light emitting points (A, B, C, D) in the light source plane coordinate system, i.e. pixel coordinates, and the position coordinates of the projection position information in the world coordinate system, i.e. the position coordinates of the projection contour vertices (A', B', C', D'), a conversion matrix between the world coordinate system and the light source plane coordinate system of the current light emitting device can be obtained by using a projection conversion method in the art. For example, the conversion matrix can be obtained by using OpenCV.
[0073] By this method, measurement can be avoided, and the projection position information in the world coordinate system can be automatically and conveniently obtained, which facilitates obtaining the conversion matrix. In addition, the relative height and the horizontal pitch angle can be dynamically adjusted in real time based on the road conditions or the vehicle pitch angle, so as to adapt to various scenes and projection requirements, accurately and effectively obtain the projection position information of the light emitting device in the world coordinate system, and further obtain the effective conversion matrix.
[0074] In other embodiments, after obtaining the horizontal pitch angle of the current light emitting device, the method can further include compensating the horizontal pitch angle to obtain the projection position information of the light source plane of the current light emitting device in the world coordinate system based on the compensated horizontal pitch angle.
[0075] In some embodiments, step S112 can be specifically:
[0076] The preset projection region is converted to the light source plane coordinates of the plurality of light emitting devices based on the conversion matrix, to obtain initial projection bitmaps of the light source plane coordinate systems of the plurality of light emitting devices; wherein the preset projection region can be a vector graphic preset in the world coordinate system, and the initial projection bitmap can be a vector graphic corresponding to the preset projection region in the light source plane coordinate system of the corresponding light emitting device.
[0077] The initial projection bitmap of each of the plurality of light emitting devices is filled with a gray value to obtain a corresponding initial projection bitmap of each of the plurality of light emitting devices. In other embodiments, the gray value can also be filled according to actual needs.
[0078] In other embodiments, in order to obtain a continuous and complete shape of the preset projection region, the method can further include, before step S112: interpolating the preset projection region by using a polygon interpolation algorithm, and converting the interpolated preset projection region to the light source plane coordinate systems of the plurality of light emitting devices based on the conversion matrix and filling the interpolated preset projection region with a gray value.
[0079] In some embodiments, the determination of the overlapping light emitting region of the projection overlapping region of the plurality of light emitting devices in the current initial projection bitmap in step S12 can be achieved by using the method shown in Figure 7 Figure 7 This is a schematic flowchart of a method for determining overlapping light-emitting regions provided in an embodiment of this application, including:
[0080] Step S71: Obtain the coordinates of the vertex closest to the current light-emitting device in the light source plane of the adjacent light-emitting device.
[0081] Step S72: Based on the vertex coordinates and the transformation matrix, obtain the boundary projection coordinates of the vertex coordinates in the light source plane coordinate system of the current light-emitting device.
[0082] Step S73: Based on the border and boundary projection coordinates of the side of the current initial bitmap to be projected that is close to the adjacent light-emitting device, determine the overlapping light-emitting area of the projection overlap area of multiple light-emitting devices in the current initial bitmap to be projected.
[0083] by Figure 5 For example, step S71 can be specifically as follows: obtain a set of vertex coordinates on the side closer to the right front headlight in the light source plane of the left front headlight, and the set of vertex coordinates can be the coordinates in the coordinate system of the light source plane of the left front headlight; obtain another set of vertex coordinates on the side closer to the left front headlight in the light source plane of the right front headlight, and the other set of vertex coordinates can be the coordinates in the coordinate system of the light source plane of the right front headlight.
[0084] Step S72 can be specifically described as follows: Based on the transformation matrix between the world coordinate system and the light source plane coordinate system of the left front headlight, a set of vertex coordinates is projected from the light source plane coordinate system of the left front headlight to the world coordinate system. Then, based on the inverse matrix of another transformation matrix between the world coordinate system and the light source plane coordinate system of the right front headlight, a set of vertex coordinates is transformed from the world coordinate system to the light source plane coordinate system of the right front headlight, thus obtaining the boundary projection coordinates of a set of vertex coordinates on the light source plane of the right front headlight.
[0085] Based on a similar method, the boundary projection coordinates of another set of vertex coordinates of the right front headlight onto the light source plane of the left front headlight can be obtained.
[0086] Step S73 can be specifically described as follows: The two boundary projection coordinates of the light source plane of the left front headlight are transformed into the initial projection bitmap corresponding to the left front headlight by rounding, resulting in boundary point 1 and boundary point 2; the area enclosed by the line connecting boundary point 1 and boundary point 2, and the border on the side closer to the right front headlight in the initial projection bitmap of the left front headlight, is determined as the overlapping light-emitting area. (See [link to relevant documentation]). Figure 8 As shown.
[0087] Similarly, the two intersection projection coordinates of the light source plane of the right front side lamp can be converted to the corresponding initial projection bitmap of the right front side lamp by rounding, to obtain intersection point 3 and intersection point 4; based on the line connecting the intersection point 3 and the intersection point 4, and the area surrounded by the frame near the left front side lamp side in the initial projection bitmap of the right front side lamp, the overlapping light-emitting area is determined, as shown in Figure 8
[0088] Referring to Figure 9 Another aspect of the present application also provides a light-emitting device projection control method, which is applied to a driving device including multiple light-emitting devices with overlapping projection areas, and the method includes the following steps:
[0089] Step S91: The target projection bitmap of each light-emitting device is determined by using the light-emitting device projection image determination method in any of the above embodiments.
[0090] Step S92: The projection of the multiple light-emitting devices is controlled based on the target projection bitmap of each light-emitting device.
[0091] Through the method, clear and uniform projection effect can be achieved.
[0092] Those skilled in the art can understand that all or part of the processes in the method for implementing the above embodiments can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable storage medium can include any entity or device, medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.
[0093] Another aspect of the present application also provides a computer readable storage medium storing a computer program, which can be executed by a processor to implement the light-emitting device projection image determination method or the light-emitting device projection control method in any of the above embodiments. The computer readable storage medium can be a storage device formed by various electronic devices, and optionally, the computer readable storage medium in the embodiments of the present application is a non-transitory computer readable storage medium.
[0094] Another aspect of the present application also provides a driving device.
[0095] In an embodiment of the driving device according to the present application, the driving device can comprise at least one processor; and a memory connected with the at least one processor in communication; wherein the memory has stored a computer program, and the computer program is executed by the at least one processor to implement the method according to any one of the above embodiments.
[0096] The driving device according to the present application can comprise an intelligent vehicle, a robot, or the like.
[0097] In some embodiments of the present application, the driving device can further comprise a plurality of light emitting devices, and the projection areas of the plurality of light emitting devices overlap.
[0098] The at least one sensor is configured to sense information. The sensor is connected with any one of the processors mentioned in the present application in communication. Optionally, the intelligent device can further comprise an autonomous driving system configured to guide the intelligent device to drive by itself or assist driving. The processor is connected with the sensor and / or the autonomous driving system in communication, and is configured to implement the method according to any one of the above embodiments.
[0099] So far, the technical solution of the present application has been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will all fall within the protection scope of the present application.
Claims
1. A method for determining a projected image from a light-emitting device, characterized in that, The method comprises: obtaining, based on a preset projection region, initial to-be-projected bitmaps corresponding to a plurality of light emitting devices respectively, the projection regions of the plurality of light emitting devices overlapping; for each initial to-be-projected bitmap corresponding to a light emitting device, determining an overlapping light emitting region of the projection overlapping region of the plurality of light emitting devices in the current initial to-be-projected bitmap, obtaining a gray scale adjustment matrix of the overlapping light emitting region, and correcting the initial to-be-projected bitmap based on the gray scale adjustment matrix to obtain a target to-be-projected image.
2. The method of claim 1, wherein, The method comprises: obtaining, based on a preset projection region, initial to-be-projected bitmaps corresponding to a plurality of light emitting devices respectively, the projection regions of the plurality of light emitting devices overlapping; obtaining a conversion matrix between a coordinate system in which the preset projection region is located and a light source plane coordinate system of the plurality of light emitting devices respectively; 3. The method of claim 2, wherein, based on the conversion matrix, converting the preset projection region to the light source plane coordinate system of the plurality of light emitting devices respectively and performing gray value filling to obtain the initial to-be-projected bitmaps corresponding to the plurality of light emitting devices respectively. The method comprises: establishing a world coordinate system; for each light emitting device, obtaining projection position information of the current light emitting device in the world coordinate system; 4. The method of claim 3, wherein, based on the position information of the current light emitting device in the light source plane coordinate system and the projection position information of the current light emitting device in the world coordinate system, obtaining the conversion matrix. The method comprises: obtaining relative position information of the current light emitting device relative to an origin of the world coordinate system, relative height relative to the preset projection region, and horizontal pitch angle and field of view angle of the current light emitting device; 5. The method of claim 4, wherein, based on the relative position information, the relative height, the horizontal pitch angle, and the field of view angle, and using the geometric position relationship between the current light emitting device and the projection contour vertex of the current light emitting device in the world coordinate system, obtaining the projection position information of the current light emitting device in the world coordinate system.
6. The method according to any one of claims 2 to 5, characterized in that, The method further comprises compensating the horizontal pitch angle to obtain the projection position information of the current light emitting device in the world coordinate system based on the compensated horizontal pitch angle. Before the preset projection region is converted to the light source plane coordinate system of the plurality of light emitting devices respectively based on the conversion matrix and gray value filling is performed, the method further comprises:
7. The method of claim 2, wherein, using a polygon interpolation algorithm to interpolate the preset projection region to convert the interpolated preset projection region to the light source plane coordinate system of the plurality of light emitting devices respectively based on the conversion matrix and perform gray value filling. The method comprises: obtaining vertex coordinates of a side of a light source plane of an adjacent light emitting device close to the current light emitting device; based on the vertex coordinates and the conversion matrix, obtaining intersection projection coordinates of the vertex coordinates in the light source plane coordinate system of the current light emitting device; based on a frame close to the adjacent light emitting device side of the current initial to-be-projected bitmap and the intersection projection coordinates, determining the overlapping light emitting region of the projection overlapping region of the plurality of light emitting devices in the current initial to-be-projected bitmap.
8. A light emitting device projection control method, characterized by, The method is applied to a driving device including a plurality of light emitting devices with overlapping projection areas, and the method includes: determining a target image to be projected for each of the plurality of light emitting devices by using the method of any one of claims 1 to 7; controlling the plurality of light emitting devices to project based on the target image to be projected for each of the plurality of light emitting devices.
9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the light emitting device projection image determination method of any one of claims 1 to 7 or the light emitting device projection control method of claim 8.
10. A driving apparatus characterized by comprising: comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program, and the computer program is executed by the at least one processor to implement the light emitting device projection image determination method of any one of claims 1 to 7 or the light emitting device projection control method of claim 8.