Projection control method and related device

Abstract

A projection control method and a related device are applied to the technical field of intelligent automobiles and projection. In the application, the projection control device can acquire the driving scene information of the first vehicle, and can project the first projection pattern based on the driving scene information of the first vehicle. Wherein the driving scene information comprises information of the target vehicle, and the first projection pattern is used for prompting the relative distance between the first vehicle and the target vehicle. According to the invention, the distance projection function can be automatically triggered based on the driving scene information, so that the surrounding vehicles pay attention to the existence of the vehicle and sense the position of the vehicle, and the collision risk is remarkably reduced. The projection pattern is used for prompting other vehicles, driving interaction conflicts caused by blind areas can be greatly reduced, driving interaction with other vehicles can be effectively and safely carried out, and driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent automobile technology and projection technology, and in particular to a projection control method and related device. BACKGROUND

[0002] With the continuous construction of the transportation network, the development of automobile technology and the improvement of people's living standards, the number of vehicles is increasing, and driving safety has gradually become one of the most concerned safety issues in people's daily life. The driving interaction safety between vehicles is a key link in driving safety.

[0003] As more and more vehicles on the road, when the driver drives the ego vehicle to approach other vehicles, especially when the interactive behaviors such as overtaking, passing, cutting in and cutting out need to be performed, the ego vehicle and the surrounding vehicles are prone to collision due to poor intention transmission. How to effectively and safely interact with other vehicles and improve driving safety when passing other vehicles is a hot issue that researchers in the field are studying. SUMMARY

[0004] The present application provides a projection control method and related device, which can automatically project the distance information between the vehicle and other vehicles based on the driving scene information of the vehicle, so that the surrounding vehicles pay attention to the existence of the vehicle and perceive the position of the vehicle, thereby significantly reducing the risk of collision. Using the projection pattern to prompt other vehicles can also greatly reduce the driving interaction conflicts caused by blind areas, effectively and safely interact with other vehicles, and improve driving safety.

[0005] In a first aspect, the present application provides a projection control method, comprising: obtaining driving scene information of a first vehicle, and enabling projection of a first projection pattern based on the driving scene information of the first vehicle. Wherein the driving scene information comprises information of a target vehicle, and the first projection pattern is used to prompt the relative distance between the first vehicle and the target vehicle.

[0006] The method can be applied to a vehicle, and it is convenient to distinguish the first vehicle. In some schemes, the method can be implemented by the first vehicle or a module in the first vehicle. Here, the module can include a software module, a hardware module, or a combination of software and hardware module, etc. For example, the method is executed by a chip, a processor or a device including a processor in the first vehicle, etc. For ease of description, the following will be described by taking the projection control device as an example, and the projection control device belongs to a vehicle-mounted device.

[0007] The present application enables the distance information between the first vehicle and the target vehicle to be projected automatically based on the driving scene information of the first vehicle, so as to prompt the distance between the first vehicle and the target vehicle. The target vehicle (or the driver of the target vehicle, hereinafter referred to as the target vehicle) can perceive the existence of the first vehicle in time and perceive the distance between the target vehicle and the first vehicle intuitively and accurately, so as to estimate the position of the first vehicle, thereby significantly reducing the risk of collision between the target vehicle and the first vehicle. Moreover, the first projection pattern is a two-dimensional pattern projected on the ground, and the ground around the first vehicle (for example, the ground in front of the first vehicle) occupies a certain area. Even if the first vehicle itself is in the blind area of the target vehicle, the first projection pattern can be projected into the visible area of the target vehicle. Therefore, the information interaction method can effectively interact with the target vehicle and greatly reduce the driving interaction conflicts caused by the blind area.

[0008] In addition, the distance projection of the present application is automatically enabled based on the recognition of the scene information, which can enable the first vehicle to easily realize intelligent and active communication with the target vehicle, greatly reduce the operation process of the driver, and further improve the driving safety. In summary, by using the present application, the first vehicle can effectively and safely interact with the target vehicle, greatly reduce the risk caused by the blind area, and significantly improve the driving safety.

[0009] Especially when driving in poor lighting conditions or passing large vehicles, the present application can significantly reduce the collision risk when performing driving interaction behaviors and improve vehicle safety. The poor lighting conditions herein include but are not limited to night, tunnels, or other poor lighting conditions.

[0010] In a possible implementation of the first aspect, the projection position of the first projection pattern is in front of the first vehicle.

[0011] In another possible implementation of the first aspect, the information of the target vehicle includes one or more of the position information of the target vehicle, the attribute information of the target vehicle, etc. The position information of the target vehicle is used to indicate one or more of the lane where the target vehicle is located, the position of the target vehicle relative to the first vehicle, the distance between the target vehicle and the first vehicle, etc. The attribute information of the target vehicle is data used to describe the state of the target vehicle, for example, the attribute information of the target vehicle is used to indicate one or more of the driving direction of the target vehicle, the size of the target vehicle, the type of the target vehicle, the speed of the target vehicle, the acceleration of the target vehicle, etc.

[0012] Optionally, the information of the target vehicle can be collected through a sensing system, which includes, but is not limited to, one or more of visual sensors, radar sensors, and wireless communication devices. For example, the visual sensor includes a camera, and the radar sensor includes, but is not limited to, one or more of lidar, ultrasonic radar, millimeter-wave radar, and centimeter-wave radar.

[0013] In another possible implementation of the first aspect, the driving scenario information further includes information about the first vehicle. The information about the first vehicle includes one or more of the following: the position of the first vehicle, the direction of travel of the first vehicle, the speed of the first vehicle, the acceleration of the first vehicle, and the continuous driving time of the first vehicle. The information about the first vehicle can be obtained from measurement data collected by a sensing system in the vehicle. This sensing system includes one or more of the following: wheel speedometer, inertial measurement unit, navigation system, positioning system, gyroscope, vision sensor, radar sensor, and wireless communication device.

[0014] In another possible implementation of the first aspect, enabling the projection of a first projection pattern in front of the first vehicle based on the driving scene information of the first vehicle includes: determining whether a distance triggering condition is met based on the driving scene information of the first vehicle, and enabling the projection of the first projection pattern if the distance triggering condition is met.

[0015] In the above approach, the distance indication trigger condition constrains the triggering scenarios of the distance indication projection function. The projection control device can determine whether the distance indication trigger condition is met based on the driving scenario information of the first vehicle, thereby accurately triggering the distance indication projection function in some high-risk or necessary scenarios, which helps reduce collision risk and improve driving safety. Moreover, based on conditional rules, the triggering of the distance indication projection function is traceable, which helps to cultivate users' adaptation to the distance indication projection function and improve the user experience.

[0016] In another possible implementation of the first aspect, the distance indication triggering condition includes one or more of the following conditions: condition 1, the position of the target vehicle satisfies a first position condition; condition 2, the attributes of the target vehicle satisfy a first attribute condition; condition 3, the predicted driving intention of the target vehicle satisfies a first intention condition; condition 4, the state of the first vehicle satisfies a first state condition, etc.

[0017] In the above embodiments, the position of the target vehicle, the attributes of the target vehicle, the predicted driving intention of the target vehicle, and the state of the first vehicle are all related to the degree of collision risk of the vehicles. Combining one or more of the position of the target vehicle, the attributes of the target vehicle, the predicted driving intention of the target vehicle, and the state of the first vehicle to determine whether to enable the projection of the first projection pattern is beneficial to avoid the conflict between the driving intention of the target vehicle and the driving intention of the first vehicle, which can significantly reduce the collision risk between the target vehicle and the first vehicle and improve driving safety.

[0018] In another possible implementation of the first aspect, the first position condition includes that the target vehicle is located in the adjacent lane of the first vehicle (for ease of distinction, referred to as condition 1a). Vehicles located in adjacent lanes face a greater risk of collision, for example, when performing driving interactions such as overtaking, cutting in, cutting off, changing lanes, turning, merging, and merging out. The above implementation can alert the target vehicle in the adjacent lane to the position of the first vehicle, which helps to avoid conflicting driving intentions and improves driving safety when passing other vehicles.

[0019] In another possible implementation of the first aspect, the first position condition includes that the target vehicle is located in front of the first vehicle (for ease of distinction, referred to as condition 1b). It is more difficult for a vehicle in front to observe a vehicle behind it. In the above implementation, when the target vehicle is in front of the first vehicle, a first projection pattern is projected in front of the first vehicle, making it easier for the target vehicle in front to perceive the presence of the first vehicle behind it and to intuitively perceive the distance between the first vehicle and the target vehicle. This further reduces the risk caused by the blind spot of the vehicle in front and significantly improves driving safety when passing other vehicles.

[0020] In another possible implementation of the first aspect, the first position condition includes that the distance between the target vehicle and the first vehicle meets a preset first distance threshold (referred to as condition 1c for ease of distinction). The above implementation makes the distance projection function more targeted, enabling it to accurately and effectively alert the target vehicle. On one hand, the closer the distance between the first vehicle and the target vehicle, the higher the likelihood of a driving interaction conflict between them. When the distance between the target vehicle and the first vehicle is less than the first distance threshold, triggering the distance projection function can more accurately reduce the danger of driving interaction between the target vehicle and the first vehicle. On the other hand, when projecting an image, the image clarity and brightness are limited by distance; the projection effect is better within a certain distance range. Therefore, the above condition ensures that projecting the first projection pattern can more effectively alert other vehicles.

[0021] Optionally, the first location condition may also include other conditions, such as the target vehicle being located on a highway, or the target vehicle being located in an urban area, or the target vehicle being located on a high-risk road segment (high-risk road segments are predefined), etc.

[0022] In another possible implementation of the first aspect, the first attribute condition includes that the target vehicle and the first vehicle travel in the same direction (for ease of distinction, referred to as condition 2a). Vehicles traveling in the same direction are prone to conflict in their driving intentions. Therefore, the distance projection function can be triggered when the target vehicle and the first vehicle are traveling in the same direction to reduce the probability of conflict in driving intentions between the target vehicle and the first vehicle, reduce the risk caused by vehicle blind spots, and significantly improve driving safety when passing other vehicles.

[0023] In another possible implementation of the first aspect, the first attribute condition includes that the target vehicle is a vehicle of a first type (for ease of distinction, referred to as condition 2b). The first type includes at least one of trucks, buses, trailers, or special vehicles, and special vehicles include, but are not limited to, mud trucks, oil tankers, and special-purpose vehicles (such as fire trucks).

[0024] The first type of vehicle is typically more dangerous, with larger blind spots compared to other types (such as sedans and sports cars), resulting in higher interaction risks. In the above method, triggering the distance projection function when approaching this specific type of vehicle makes the function more targeted and provides a more significant warning, improving driving safety. Since there are many ordinary vehicles on the road, the distance warning function is not triggered for vehicles other than the first type, avoiding repeated triggering and low-risk activation, thus improving the user experience.

[0025] In another possible implementation of the first aspect, the first attribute condition includes that the size of the target vehicle is greater than (or greater than or equal to) a first size threshold (for ease of distinction, referred to as condition 2c). The larger the vehicle size, the larger the blind spot and the higher the interaction risk. The addition of this condition makes the distance projection function more targeted, accurately and effectively alerting large vehicles and improving safety when passing them.

[0026] In another possible implementation of the first aspect, the first attribute condition includes that the speed data of the target vehicle satisfies a first speed condition (referred to as condition 2d for ease of distinction). The speed data includes speed, relative speed with respect to the first vehicle, acceleration, and relative acceleration with respect to the first vehicle. The speed data satisfies the first speed condition for example, the target vehicle's speed falls within a first speed range, the target vehicle's acceleration falls within a first acceleration range, the relative speed between the target vehicle and the first vehicle falls within a second speed range, and the relative acceleration between the target vehicle and the first vehicle falls within a second acceleration range, etc.

[0027] During interaction, the speed, relative speed, acceleration, and relative acceleration of other vehicles significantly affect the danger of interaction between your vehicle and other vehicles. When triggering the distance projection function, incorporating the target vehicle's speed data into the data triggering conditions can accurately and effectively alert other vehicles in dangerous interaction scenarios, thereby improving safety when interacting with other vehicles.

[0028] Similar to the first position condition, the first attribute condition may also include other conditions, such as conditions for constraining the cargo status of the target vehicle, conditions for constraining the estimated weight of the target vehicle, etc.

[0029] In another possible implementation of the first aspect, the first intent condition includes: the predicted driving intent of the target vehicle belongs to a first intent type (referred to as condition 3a for ease of distinction). The first intent type can be predefined. When the predicted driving intent of the target vehicle belongs to the first intent type, the driving interaction between the first vehicle and the target vehicle may have a high risk, thus enabling the triggering of the distance projection function. The introduction of the above condition makes the distance projection function more targeted, can have a more significant prompting effect, and improves driving safety.

[0030] In another possible implementation of the first aspect, the first intention condition includes: a conflict between the predicted driving intention of the target vehicle and the predicted driving intention of the first vehicle (referred to as condition 3b for ease of distinction). When the predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle, there is a high risk in the driving interaction between the target vehicle and the first vehicle. Therefore, enabling the distance projection function when the predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle can make the distance projection function more targeted, have a more significant prompting effect, and improve driving safety.

[0031] In another possible implementation of the first aspect, the first state condition includes that the speed data of the first vehicle satisfies a second speed condition (referred to as condition 4a for ease of distinction). During interaction, the speed and acceleration of the vehicle significantly affect the danger of interaction between the vehicle and other vehicles. By incorporating the vehicle's speed data into the data triggering condition when triggering the distance projection function, it is possible to accurately and effectively provide warnings to other vehicles in dangerous interaction scenarios, thereby improving safety when interacting with other vehicles.

[0032] In yet another possible implementation of the first aspect, the first state condition includes that the position of the first vehicle satisfies a second position condition (referred to as condition 4b for ease of distinction).

[0033] In another possible implementation of the first aspect, the first state condition includes that the continuous driving time of the first vehicle satisfies a first continuous driving time condition (referred to as condition 4c for ease of distinction). During interaction, the continuous driving time of the vehicle reflects the driver's driving time. When the continuous driving time is relatively long, the driver may experience fatigue. By including the continuous driving time of the first vehicle in the distance indication trigger condition, when the distance indication projection function is triggered, the vehicle's speed data is included in the data trigger condition. This can accurately and effectively provide a warning to other vehicles in dangerous interaction scenarios, improving safety when interacting with other vehicles.

[0034] It should be understood that the above-described various implementation methods can be combined. For example, the ranging trigger condition may include some or all of the aforementioned conditions. When multiple conditions are included, some conditions may be mandatory, or some conditions may be combined with other conditions as optional conditions that can be satisfied.

[0035] In another possible implementation of the first aspect, whether to enable the projection of the first projection pattern in front of the first vehicle can be determined using an artificial intelligence (AI) model, or by using information output by an AI model. The AI ​​model includes, but is not limited to, machine learning models, such as neural network models. AI models have high recognition accuracy and can be deployed on a separate computing unit. Using an AI model to determine whether the distance indication triggering condition is met can improve the triggering accuracy of the projection distance indication function and reduce the computing power consumption of the projection control device.

[0036] As one possible implementation, based on the driving scene information of the first vehicle, enabling the projection of a first projection pattern in front of the first vehicle includes: obtaining perception information based on the driving scene information of the first vehicle and a first machine learning model; determining whether the driving scene information of the first vehicle meets the distance indication triggering condition based on the perception information; and projecting the first projection pattern if the distance indication triggering condition is met. Wherein, the perception information is used to determine whether the driving scene information of the first vehicle meets the distance indication triggering condition.

[0037] In the above embodiments, the first driving scene information can be input into a first machine learning model. This first machine learning model can identify and extract complex scene information to obtain more usable perceptual information. For example, the driving scene information of the first vehicle is image data collected such as point clouds and images. The first machine learning module can process the above information to obtain information about road elements and obstacles in the scene. Road elements include lane lines, traffic signs, etc., and obstacle information includes the location or attributes of obstacles. By processing the first scene information through the machine learning model, more usable information can be obtained quickly and accurately. This information can include indicators used to determine the distance indication trigger condition, making the determination of the distance indication trigger condition more accurate, improving the trigger accuracy of the projection distance indication function and reducing the computing power consumption of the projection control device.

[0038] As another possible implementation, based on the driving scene information of the first vehicle, enabling the projection of a first projection pattern in front of the first vehicle includes: obtaining output result information based on the driving scene information of the first vehicle and a first machine learning model, wherein the output result information indicates whether the driving scene information of the first vehicle meets the distance indication triggering condition. If the distance indication triggering condition is met, the first projection pattern is projected.

[0039] In the above implementation, the machine learning model can identify and extract driving scene information, and further determine whether the distance indication triggering condition is met. Combining the machine learning model makes the determination of the distance indication triggering condition more accurate, which can improve the triggering accuracy of the projection distance indication function and reduce the computing power consumption of the projection control device.

[0040] As another possible implementation, based on the driving scene information of the first vehicle, enabling the projection of a first projection pattern in front of the first vehicle includes: inputting the driving scene information of the first vehicle into a first machine learning model, obtaining output result information, the output result information indicating whether to enable the projection of the first projection pattern in front of the first vehicle. In response to the output result information indicating that the projection of the first projection pattern in front of the first vehicle is enabled, the first projection pattern is projected in front of the first vehicle.

[0041] In the above implementation, the machine learning model can identify and extract driving scene information, and further directly control the enabling and disabling of the distance projection function. Combined with the machine learning model, the control of the distance projection function is more precise, which can improve the intelligence of the distance projection function and enhance the user experience.

[0042] In yet another possible implementation of the first aspect, the first projected pattern includes one or more of graphics, text, or symbols. Exemplarily, graphics may include one or more of shapes (e.g., arrows), lines, signs (e.g., warning signs), virtual avatars, etc.

[0043] In some schemes, the elements in the first projected pattern include dynamically changing elements. Optionally, the dynamic effects of the dynamic elements include, but are not limited to, dynamic appearance effects, dynamic emphasis effects, dynamic disappearance effects, or dynamically moving paths. Dynamic effects can vividly and dynamically display the distance between the vehicle and other vehicles, making it more eye-catching and enhancing the prompting effect. While increasing the likelihood of being observed by other vehicles, it can also guide the driver of the own vehicle, improve the driver's concentration, and further enhance the safety of the interaction.

[0044] In another possible implementation of the first aspect, the first vehicle further includes a projection module, and projecting the first projection pattern includes providing the first projection pattern to the projection module such that the projection module projects the first projection pattern. Optionally, the projection module may include a projection lens capable of projecting an image outward, the projection image including the first projection pattern.

[0045] In another possible implementation of the first aspect, the projection area of ​​the first projection pattern is in front of the first vehicle, and the projection area is at least partially located in front of the target vehicle. Since at least a portion of the first projection pattern needs to be projected onto the front of the target vehicle, this greatly increases the likelihood that the target vehicle (or its driver) will perceive the first projection pattern, thereby effectively enabling information interaction with the target vehicle, significantly reducing blind spot risks, and further improving driving safety.

[0046] In another possible implementation of the first aspect, the projection area of ​​the first projection pattern at least partially includes the lane where the first vehicle is located. Thus, other vehicles can sense the lane where the first vehicle is located based on the lane position of the first projection pattern, allowing them to proactively avoid driving interaction conflicts with the first vehicle and reduce the risk of collision.

[0047] In another possible implementation of the first aspect, the projection area of ​​the first projection pattern is fixed relative to the position of the first vehicle. Projecting the first projection pattern onto the fixed projection area relative to the first vehicle can reduce the amount of computation and computational complexity, and can avoid positional jitter of the projection pattern, resulting in better display effect.

[0048] In another possible implementation of the first aspect, the first projection pattern includes at least two display areas arranged along the front direction of the first vehicle, each of the at least two display areas representing a preset distance length.

[0049] In yet another possible implementation of the first aspect, the first projection pattern further includes display elements located in each display area, the display elements in each display area being used to indicate the distance between the display area and the first vehicle.

[0050] In another possible implementation of the first aspect, the brightness of at least two display areas gradually changes in a stepped manner in the direction opposite to the frontal direction of the first vehicle, for example, the brightness gradually increases. In this way, the target vehicle can combine the stepped brightness changes to further estimate the distance between the first vehicle and the target vehicle, and realize whether the vehicle is approaching or moving away, which helps reduce the risk of collision with other vehicles and improves driving safety.

[0051] In another possible implementation of the first aspect, the method further includes: determining a target projection area based on the distance between the first vehicle and the target vehicle. The target projection area is located in front of the target vehicle, and the projection area of ​​the first projection pattern is located within the target projection area. Considering the relative distance between the target vehicle and the first vehicle when projecting the first pattern increases the probability that the first projection pattern will be perceived by the target vehicle, thus improving the interactive effect.

[0052] Furthermore, the projection area of ​​the first projection pattern is fixed relative to the target vehicle. For the target vehicle, the fixed first projection pattern allows the target vehicle to obtain its relative distance to the first vehicle from a fixed area, which better aligns with the observation habits of the target vehicle's user, reducing the risk of collision and thus improving the driving safety of the first vehicle.

[0053] In another possible implementation of the first aspect, the method further includes: updating the position of the target projection area based on the current distance between the first vehicle and the target vehicle. Since the projection area of ​​the first projection pattern is related to the distance between the first vehicle and the target vehicle, the projection area of ​​the first projection pattern is updated accordingly when the distance between the first vehicle and the target vehicle changes, to adapt to the change in distance. This creates a display effect that follows the movement of the vehicle, enhancing the intelligence of the projection display and improving the user experience.

[0054] In another possible implementation of the first aspect, the method further includes: enabling the projection of the first projection pattern to cease (i.e., ending the projection of the first projection pattern) based on the driving scenario information of the first vehicle. Thus, the distance projection function can be controlled to exit in a timely manner based on the driving scenario information. This reduces the power consumption of the projection module and makes room for other information that needs to be projected, thereby improving the intelligence of the vehicle projection function and enhancing the user experience.

[0055] In another possible implementation of the first aspect, the method further includes: enabling a second projection pattern to be projected in front of the first vehicle based on the driving scenario information of the first vehicle. The second projection pattern is used to indicate that the distance between the first vehicle and the target vehicle has reached a warning distance. Since the interaction between the vehicle and other vehicles inevitably involves close proximity, the proximity warning function can further alert the target vehicle that the distance between the first vehicle and the target vehicle has reached a warning distance. This helps the target vehicle and the first vehicle avoid interaction risks and improves the safety of driving interactions.

[0056] In another possible implementation of the first aspect, the method further includes: enabling a second projection pattern to be projected in front of the first vehicle based on the driving scene information of the first vehicle; the method further includes: determining whether a distance warning condition is met based on the driving scene information of the first vehicle; and if the distance warning condition is met, projecting the second projection pattern in front of the first vehicle.

[0057] Based on conditional rules, the triggering of the distance projection function is traceable, which helps to cultivate users' adaptation to the distance projection function and improve the user experience.

[0058] In another possible implementation of the first aspect, the distance warning condition includes the distance between the first vehicle and the target vehicle being less than or equal to a second distance threshold. Further, the second distance threshold is predefined, pre-determined, or user-defined; here, "pre-defined" means that, prior to the current determination, the second distance threshold can adaptively change in some scenarios. Optionally, the second distance threshold is less than or equal to a first distance threshold.

[0059] Furthermore, the distance alarm condition may include one or more of the conditions included in the distance trigger condition, or the trigger condition of the distance alarm condition may be more stringent than the distance trigger condition.

[0060] For example, the distance warning conditions may further include one or more of the following conditions: (a) the target vehicle is located in the adjacent lane of the first vehicle; (b) the target vehicle is located in front of the first vehicle; (c) the target vehicle is a preset second type of vehicle; (d) the size of the target vehicle is greater than a second size threshold; (e) the speed data of the target vehicle satisfies a third speed condition; (f) the speed data of the first vehicle satisfies a fourth speed condition; (g) the relative speed between the target vehicle and the first vehicle satisfies a second relative speed condition; (h) the predicted driving intention of the target vehicle satisfies a second intention condition; (i) the predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle. For example, the second type includes at least one of a truck, bus, trailer, or special vehicle. In some embodiments, the first type and the second type are the same; in other embodiments, the first type and the second type are different. In some embodiments, the first size threshold and the second size threshold are the same. In other embodiments, the first size threshold and the second size threshold are different, for example, the second size threshold is greater than the first size threshold.

[0061] Similarly, other indicators, such as size, speed, relative speed, and driving intention, may have the same or different thresholds as the indicators in the aforementioned distance indication trigger conditions.

[0062] In another possible implementation of the first aspect, the method further includes: ending the projection of the second projection pattern when the distance warning condition is no longer met. Timely exiting the distance warning function when the distance warning condition is no longer met reduces the power consumption of the projection module and makes room for other information that needs to be projected, thereby improving the intelligence of the vehicle's projection function and enhancing the user experience.

[0063] In another possible implementation of the first aspect, whether to enable the projection of the second projection pattern in front of the first vehicle can be determined using an AI model or information output by an AI model. The AI ​​model includes, but is not limited to, machine learning models, such as neural network models. For a related description, please refer to the aforementioned implementation of enabling the projection of the first pattern using an AI model.

[0064] In another possible implementation of the first aspect, the first projection pattern and the second projection pattern belong to the same layer of the same projection image, or the first projection pattern and the second projection pattern belong to different layers of the same projection image. Multi-layer fusion allows for the separate acquisition of layer information before fusion and projection, and also facilitates decoupling between functions. For example, users can actively disable the distance projection or distance alarm function without affecting other functions.

[0065] In another possible implementation of the first aspect, the first projection pattern is included in each of a plurality of consecutive projected image frames. The method further includes: determining whether a distance warning condition is met based on driving scene information of the first vehicle. If the distance warning condition is met, the display style of the first projection pattern in at least two of the plurality of projected image frames is different. Further, the change in the display style of the first projection pattern in the plurality of projected image frames is used to indicate that the distance between the first vehicle and the target vehicle has reached a warning distance.

[0066] The display style changes include one or more of the following: changes in thickness, shape, size, position, and color. Dynamic changes achieve a more vivid and eye-catching alarm effect, save projection area for alarm information, and combine distance indication with distance alarms, better aligning with user information acquisition habits and improving the user experience of both distance projection and distance alarm functions.

[0067] In another possible implementation of the first aspect, the method further includes: determining whether a distance warning condition is met based on the driving scene information of the first vehicle. If the distance warning condition is met, the first projection pattern is included in a first portion of a series of consecutive projected image frames, while a second portion of the projected image frames does not include the first projection pattern. Changes in the presence state of the first projection pattern within the multiple projected image frames are used to indicate that the distance between the first vehicle and the target vehicle has reached a warning distance. The flashing change achieves a more vivid and eye-catching warning effect, saves projection area for projected warning information, and combines distance indication with distance warning, better aligning with user information acquisition habits and improving the user experience of both the distance projection function and the distance warning function.

[0068] In another possible implementation of the first aspect, the method further includes: projecting a third projection pattern in front of the first vehicle, the third projection pattern being used to indicate the first vehicle's first driving intention. This allows the target vehicle to understand the first vehicle's driving intention, which helps the target vehicle and the first vehicle avoid interaction risks, reduce collision risks, and improve the safety of driving interactions.

[0069] Furthermore, the method also includes: determining the first driving intention of the first vehicle based on the driving status data of the first vehicle.

[0070] In another possible implementation of the first aspect, the first projection pattern and the third projection pattern belong to the same layer of the same projection image, or the first projection pattern and the third projection pattern belong to different layers of the same projection image.

[0071] In another possible implementation of the first aspect, the method further includes: ending the projection of the third projection pattern after the first driving intention is canceled or executed. Thus, timely termination of the projection of the driving intention after its cancellation or execution reduces the power consumption of the projection module and frees up projection area for other information requiring projection, thereby enhancing the intelligence of the vehicle projection function and improving the user experience.

[0072] Secondly, this application provides a projection control device, including a unit or module for performing the method described in the first aspect or any possible implementation of the first aspect. Exemplarily, the communication device includes a processing unit and an acquisition unit. The processing unit is used to perform one or more operations such as processing, determining, generating, calculating, encrypting, and decrypting. The acquisition unit is used to perform one or more operations such as acquiring, receiving, and inputting. For example, the acquisition unit can acquire driving scene information of a first vehicle, and the processing unit can process the information. Furthermore, the information processed by the processing unit can be output.

[0073] Thirdly, this application provides a projection control device, including a processor, a memory, and a communication interface. The communication interface is used to acquire information and / or output information. The memory provides storage space for storing computer instructions, and the processor invokes the computer instructions stored in the memory to execute the method described in the first aspect or any possible implementation thereof.

[0074] Fourthly, this application provides a chip including a processor and an interface circuit. The interface circuit is used to acquire information and transmit it to the processor. The processor uses logic circuits or execution code instructions to implement the method described in the first aspect or any possible implementation of the first aspect.

[0075] Fifthly, this application provides a projection system, which includes a projection module and a projection control device according to a second or third aspect. The projection control device is used to provide a projected image to the projection module, the projected image including a first projection pattern, and the projection module is used to project the projected image. Further, the projection module is disposed in a vehicle headlight.

[0076] Sixthly, this application provides a vehicle, which includes the projection system and sensing device of the fifth aspect. The sensing device is used to collect driving scene information of the vehicle and provide the driving scene information of the vehicle to the projection system.

[0077] In a seventh aspect, this application provides a readable storage medium for storing a computer program that, when executed by a processor, causes an apparatus including a processor to implement the method described in the first aspect or any possible implementation thereof.

[0078] Eighthly, this application provides a computer program product that, when executed by a processor, causes a device including a processor to implement the method described in the first aspect or any possible implementation of the first aspect.

[0079] The beneficial effects of aspects two through eight of this application can be found in the beneficial effects of the solution in aspect one. Attached Figure Description

[0080] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0081] Figure 1 This is a schematic diagram illustrating a scenario where one's own vehicle and other vehicles are traveling on a road;

[0082] Figure 2 This is a diagram illustrating a vehicle's blind spot.

[0083] Figure 3A This is a functional block diagram of a vehicle provided in an embodiment of this application;

[0084] Figure 3B This is a schematic diagram of the architecture of a vehicle provided in an embodiment of this application;

[0085] Figure 4 This is a schematic diagram of the architecture of a projection system provided in an embodiment of this application;

[0086] Figure 5 This is a schematic diagram of the architecture of a vehicle provided in an embodiment of this application;

[0087] Figure 6 This is a schematic diagram of a projection pattern provided in an embodiment of this application;

[0088] Figure 7 This is a schematic diagram of yet another projection pattern provided in the embodiments of this application;

[0089] Figure 8 This is a schematic diagram of yet another projection pattern provided in the embodiments of this application;

[0090] Figure 9 This is a schematic diagram illustrating two methods for determining adjacent lanes provided in the embodiments of this application;

[0091] Figure 10 These are schematic diagrams of two more projection patterns provided in the embodiments of this application;

[0092] Figure 11 This is a schematic diagram of yet another projection pattern provided in the embodiments of this application;

[0093] Figure 12 This is a schematic diagram of a layer of a projected image provided in an embodiment of this application;

[0094] Figure 13 This is a schematic diagram of image frames of two projected images provided in an embodiment of this application;

[0095] Figure 14 This is a schematic diagram of image frames of two projected images provided in an embodiment of this application;

[0096] Figure 15 This is a schematic diagram of yet another projection pattern provided in the embodiments of this application;

[0097] Figure 16 This is a schematic diagram of another layer of a projected image provided in an embodiment of this application;

[0098] Figure 17 This is a schematic diagram of the structure of a projection control device provided in an embodiment of this application;

[0099] Figure 18 This is a schematic diagram of another projection control device provided in the embodiments of this application. Detailed Implementation

[0100] The following is a brief introduction to some of the terms that may be involved in this application.

[0101] A domain controller (DC) is a functional domain that divides a vehicle's systems according to their functions, such as powertrain domain, chassis domain, body domain, cockpit domain, autonomous driving domain, left domain, right domain, etc. Each domain in the vehicle is centrally controlled by a high-performance computing platform; this device is the domain controller. A domain controller mainly includes, but is not limited to, one or more processors, memory, communication interfaces, a power management module, and sensor interfaces. The processor is responsible for running various software algorithms within the domain, processing data, making decisions, and controlling actuators. Memory is used to store the operating system, applications, and data, or for temporary storage of running programs and data. The communication interface is used to communicate with other electronic devices in the vehicle, enabling data transmission and interaction. The power management module is responsible for managing and distributing the power supply to the domain controller, ensuring a stable power supply to the system under different operating conditions. The sensor interface connects various types of sensors, such as cameras, radar, and accelerometers, depending on the domain, allowing the processor to receive, process, and analyze sensor data from the corresponding domain.

[0102] The Mobile Data Center (MDC), also known as the Intelligent Driving Domain Controller, is positioned as the computing platform for intelligent driving and is a key hardware architecture for realizing software-defined vehicles. The MDC's hardware architecture includes, but is not limited to, a main control chip, sensor interfaces, communication modules, a power management module, and a cooling system. The main control chip provides powerful AI computing power to handle the numerous perception and computational tasks in intelligent driving, as well as system control functions. Sensor interfaces offer a rich set of interfaces to connect to various types of sensors, ensuring that the MDC can quickly and accurately receive information from different sensors, providing data support for intelligent driving decisions. The communication module has high-speed communication capabilities, supporting communication methods such as in-vehicle Ethernet (for example only), ensuring efficient communication with other electronic control units (ECUs) and the cloud, enabling real-time data transmission and interaction. The power management module manages and distributes the power supply for the entire system, ensuring a stable and reliable power supply to all components under different operating conditions, while also considering energy consumption optimization to reduce overall system power consumption. The cooling system ensures that the system temperature remains within a reasonable range during prolonged high-load operation; an efficient cooling system is crucial for ensuring the stable operation of the intelligent driving computing platform.

[0103] An obstacle is an entity (or an entity perceived by the terminal) that may delay or impede the movement of a mobile terminal (such as a vehicle), such as an object, terrain, or facility. Objects can include living or inanimate objects. Furthermore, obstacles can be fixed or movable. For example, obstacles in the course of a vehicle's movement include other vehicles and other road users.

[0104] The above descriptions of technical terms can be applied to the embodiments described below.

[0105] When a vehicle interacts with surrounding vehicles (e.g., overtaking, lane changing, etc.), information exchange is relatively passive, such as... Figure 1 When a vehicle approaches another vehicle, there is usually a driving interaction between them. For example, the vehicle may overtake the other vehicle, the other vehicle may change lanes, and the vehicle may change lanes. These driving interactions are prone to conflict, which can easily lead to collisions between the vehicle and surrounding vehicles due to poor communication of intentions.

[0106] Because of blind spots, other vehicles may not be aware of your vehicle's presence. In such cases, you can communicate with other vehicles by using your horn, flashing lights, or other means to make them aware of your vehicle. However, this requires manual intervention from the driver, which increases the risk of accidents.

[0107] Especially when the vehicle is a large vehicle, its longer length creates larger blind spots, further reducing the effectiveness of warnings such as horns and flashing lights. Therefore, the risk to the driver when passing a large vehicle is often higher. Please see [link / reference]. Figure 2 (a) The visual blind spots of large vehicles are divided into semi-blind spots and complete blind spots, with the complete blind spot being... Figure 2 As shown in (a), areas D and E are defined. Area D is located to the left, right, and rear of the vehicle, outside the driver's line of sight and the range of the three rearview mirrors. Area E is located at the angle between the left and right sides of the front of the vehicle, a blind spot created by the A-pillars on either side of the windshield. When a vehicle is within the complete blind spot of a large vehicle, a dangerous situation is highly likely. A semi-blind spot is... Figure 2 As shown in (a), areas A, B, and C are located to the left, front, and right of the vehicle's front, respectively. The danger range of the semi-blind spot depends on the size of the truck. Approaching the underside of the vehicle body enters the semi-blind spot; the closer one is, the less likely the truck driver is to see them, and the higher the risk of an accident. In addition to static blind spots, the inner wheel difference generated when a truck turns also creates a large blind spot. See also... Figure 2 (b) Inner wheel difference refers to the difference in turning radius between the front inner wheel and the rear inner wheel when a vehicle is turning. Simply put, when a large vehicle turns, the front and rear wheels are not on the same trajectory; an object that the front wheels can avoid may not be avoided by the rear wheels. In serious traffic accidents caused by large vehicles, ignoring the inner wheel difference accounts for more than 70% of the accidents, with a fatality rate exceeding 90%. Furthermore, when a driver overtakes a large truck, they often need to firmly grip the steering wheel to accurately control the direction, making other hand operations (such as flashing lights, honking the horn, etc.) quite difficult. In this state of confusion and disarray, traffic accidents are highly likely to occur.

[0108] In view of this, this application provides a projection control method and related apparatus that can project distance information between the vehicle and other vehicles in front of the vehicle, enabling surrounding vehicles to notice the presence of the vehicle and perceive its position, thereby significantly reducing the risks caused by blind spots. This application enables effective and safe interaction with other vehicles, improving driving safety when passing other vehicles. Especially when driving at night or in other poor lighting conditions, or when passing large vehicles, this application can significantly reduce the risks of performing interactive actions and improve vehicle safety.

[0109] The following is combined Figure 3A , Figure 3B and Figure 4 The system architecture and scenarios in which the embodiments of this application are applied are described. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0110] Let's combine the following... Figure 3A This paper presents a functional block diagram of a vehicle to which this application can be applied. For example... Figure 3A The vehicle 200 may include various subsystems, such as a motion system 21, a control system 22, a sensing system 23, one or more peripheral devices 24, a power supply 26, and a computing device 101. Each subsystem may include one or more components, and subsystems or components may be interconnected via wired or wireless means. Figure 3A The functional block diagram shown is for illustrative purposes only. In actual implementation, the vehicle may include more or fewer subsystems, and the types and number of components included in the subsystems may also be designed differently.

[0111] The propulsion system 21 includes elements that provide powered motion to the vehicle 200. Exemplarily, the propulsion system 21 may include an engine 211, an energy source 212, a transmission 213, and wheels 214 (or tires). The engine 211 converts the energy source 212 into mechanical energy and may include an internal combustion engine, an electric motor, an air compressor engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compressor engine. Examples of energy sources 212 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. In some embodiments, the energy source 212 may also provide energy to other systems of the vehicle 200. The transmission 213 transmits mechanical power from the engine 211 to the wheels 214. The transmission 213 may include a gearbox, a differential, and a drive shaft. Exemplarily, the transmission 213 may also include further elements, such as a clutch.

[0112] The vehicle control system 22 is a system for controlling the vehicle and its components. The control system 22 may include various components, including a steering system 221, a throttle 222, or a braking unit 223, etc. The steering system 221 adjusts the vehicle's forward direction, for example, by including a steering wheel system. The throttle 222 controls the operating speed of the engine 211, thereby controlling the vehicle's speed. The braking unit 223 controls vehicle deceleration and can be used to slow down the rotational speed of the wheels 214, thus controlling vehicle deceleration. In some embodiments, the braking unit 223 can convert the kinetic energy of the wheels 214 into electrical current. Of course, the braking unit 223 may also take other forms to slow down the rotational speed of the wheels 214, thereby controlling the vehicle's speed. Of course, in some embodiments, the control system 22 may include more or fewer components, or use other components instead. Figure 3A The components shown, for example, control system 22, also include one or more of a computer vision system, a route control system, an obstacle avoidance system, or an emergency braking system.

[0113] The sensing system 23 may include several sensors for vehicle status and / or the vehicle's surrounding environment. For example, the sensing system 23 may include a positioning system 231 (which may be a Global Positioning System, a BeiDou Navigation Satellite System, or another positioning system), an inertial measurement unit (IMU) 232, radar 233, lidar 234, a camera 235, a pressure sensor (not shown), a touch sensor (not shown), etc. The sensing system 23 may also include sensors for sensing the internal environment of the vehicle (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.).

[0114] The positioning system 231 can be used to obtain the geographical location of the vehicle.

[0115] The IMU232 is used to sense changes in a vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU232 is a combination of an accelerometer and a gyroscope.

[0116] Radar 233 can use signals such as electromagnetic waves or sound waves to sense objects in the vehicle's surrounding environment and obtain relevant information about the objects. This relevant information may include one or more of the following: distance, angle, speed, direction of travel, reflectivity, color, texture, size, and orientation. LiDAR 234 can use light to sense objects in the vehicle's environment and obtain relevant information about them. Exemplarily, LiDAR 234 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components (such as optical elements).

[0117] Camera 235 is used to acquire image data, including images and videos. Camera 235 may include a monocular camera, a binocular camera, a time-of-flight (TOF) camera, a camera of a driver monitoring system (DMS), or a camera of a cockpit monitoring system (CMS).

[0118] Wheel speed sensor 236 is used to collect one or more of the following: wheel speed or motor speed. Based on the data collected by the wheel speed sensor, the wheel speed and / or vehicle speed of vehicle 200 can be obtained.

[0119] Peripheral device 24 is used for vehicle interaction with the outside world. Peripheral device 24 may include one or more of the following: projection module 20, communication system 241, screen (or display screen) 242, microphone 243 and / or speaker 244.

[0120] The projection module 20 is used to project images into the object space. The projected images (or simply projected images) include one or more of the following: ordinary images (static images and dynamic images) and videos.

[0121] The communication system 241 can communicate with one or more devices directly or via a communication network, including wired and wireless communication.

[0122] Screen 242 can display information to the user. Screen 242 includes one or more of the following: physical screen (such as a central control screen), projection system, smart entity, or button panel. Projection system includes, for example, light field screen, head-up display (HUD), or other projection system. Figure 4 A central control screen can be installed on the vehicle's center console. This screen displays the vehicle's driving route, showcases configuration information for vehicle functions, or plays audio and video content. Besides the central control screen, other types of screens 242 are also installed in the vehicle, allowing front-seat passengers and rear-seat passengers to interact with the vehicle. These screens 242 can include one or more of the following: physical screens, projection systems, smart devices, or button panels. Projection systems include light field screens, head-up displays (HUDs), or other projection systems. This application does not strictly limit the number or location of the screens 242 in the applicable scenario. Taking the application of this application in a vehicle as an example, the screens 242 can be located in front of the front passenger seat, on the headrest (or backrest) of the front seats, on the armrests of the seats, on the doors, or on the roof of the cabin.

[0123] Microphone 243 can receive voice commands or other audio input from users inside the vehicle. For example... Figure 3A The microphone 243 can be installed in the vehicle's steering wheel or integrated into the in-vehicle display device, etc. The microphone 243 can collect sound in the cabin, such as the user's voice commands. The speaker can play audio (including voice prompts, music, sound effects, etc.) to convey information to the user in the form of sound.

[0124] Speaker 244 can output audio to a user inside the vehicle. For example, speaker 244 can perform voice announcements and / or sound effects playback, such as indicating the current status of a controlled object and providing feedback on the execution of an operation. Alternatively, the speaker can play sound effects, such as conveying information by playing a "beep" sound at a specific frequency. In some embodiments, speaker 244 can also be a sound wave emitting device, for example, serving as the transmitter of an ultrasonic detection system (such as ultrasonic radar).

[0125] Motor 245 can generate vibration.

[0126] Power source 26 can provide power to various components of the vehicle. In one embodiment, power source 26 can be a rechargeable lithium-ion or lead-acid battery. One or more such battery packs can be configured to provide power to various components of the vehicle. In some embodiments, power source 26 and energy source 212 can be implemented together, such as in a pure electric vehicle, a hybrid vehicle, or a range-extended vehicle.

[0127] Some or all of the functions of vehicle 200 are controlled by computing device 101. Computing device 101 may include at least one processor for executing instructions stored in a non-transitory computer-readable medium such as memory. Computing device 101 may also be multiple computing devices controlling individual components or subsystems of vehicle 200 in a distributed manner. Those skilled in the art will understand that there are many possible designs for the number, location, and integration of such processors, computers, or memory. For example, memory may be a hard disk drive or other storage medium located in a different enclosure than computing device 101. Therefore, references to processors or computing device 101 will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs calculations only related to the component's specific function.

[0128] In some schemes, the processor can be located remotely from the vehicle 200 and be able to transmit information with the vehicle 200.

[0129] In some embodiments, the memory may contain instructions (e.g., program logic) that can be executed by a processor to perform various functions of the vehicle 200, including those described above. The memory may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the mobility system 21, sensing system 23, control system 22, and peripheral devices 24. In addition to instructions, the memory may store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. This information can be used by the vehicle 200 and computing device 101 during operation of the vehicle in autonomous, semi-autonomous, and / or manual modes.

[0130] It should be understood that Figure 3A The connection between the computing device 101 and the components inside the vehicle is not shown in the illustrated vehicle, but in specific implementations, the computing device 101 may be connected to one or more components inside the vehicle. In some embodiments, the computing device 101 is also connected to one or more devices, such as a projection module. These devices can be used to implement responsive functions; for example, the computing device can output a projected image to the projection module, causing the projection module to project the image into the object space.

[0131] Optionally, one or more of the components in vehicle 200 may be installed or associated separately from vehicle 200. For example, a memory may exist partially or completely separately from vehicle 200. The aforementioned components may be communicatively coupled together in a wired and / or wireless manner.

[0132] It should be understood that Figure 3A The functional block diagram shown is just an example. In actual applications, components in the vehicle can be added or removed as needed. Figure 3A This should not be construed as a limitation on the embodiments of this application. The vehicle 200 described above may be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, or handcart, etc., and the embodiments of this application do not impose any special limitations.

[0133] Please see Figure 4 , Figure 4 This is a schematic diagram of the architecture of a projection system provided in an embodiment of this application, combined with... Figure 3B The projection system 100 can be installed in a vehicle, or at least partially (such as in the projection module 20) in the vehicle. The projection system 100 includes a projection control device 10 and a projection module 20, and may further include a sensing device 30. Wherein:

[0134] The projection control device 10 is a computing device capable of processing information and obtaining a projected pattern. It may include a computing-capable hardware module and / or a computing-capable software module. Examples of hardware and software implementations are described below.

[0135] As an example of hardware implementation, the projection control device 10 may include at least one processor, which is a module with processing capabilities. In one implementation, the processor may be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, microcontroller unit (MCU), graphics processing unit (GPU), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits, which may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the corresponding functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In some implementations, the projection control device 10 includes at least one processor integrated as a system-on-chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors can be different, such as including a CPU and an NPU.

[0136] For example, the projection system 100 can be applied to vehicle projection scenarios, and the projection control device 10 can be a computing device 101 in the vehicle 200. For example, the projection control device 10 includes, but is not limited to, a domain controller (DC), a mobile data center (MDC), an electronic control unit (ECU), a vehicle integrated / integration unit (VIU), etc. Among them, the DC may include a cockpit domain controller (CDC).

[0137] As an example of software implementation, the projection control device 10 may include software functional units. As another example of a software functional unit, the projection control device 10 may include one or more of the following: an executable computer program, computer code, or computer instructions, where "executable" means capable of running on a processor or computing instance. As yet another example of a software functional unit, the projection control device 10 may include computing instances, including virtual machines, containers, etc. A virtual machine is a computer system simulated by software, possessing complete hardware system functionality and running in an isolated environment. A container is an isolated environment obtained by packaging applications and their dependencies.

[0138] The projection module 20 is a device with projection capabilities, capable of projecting images into an object space. The projected images (or simply projected images) include one or more of the following: ordinary images (still images and moving images) and videos. For example, the projection module 20 may include a projection lens, and optionally also include a processor connected to the projection lens, which is used to acquire the projected images and control the projection lens to perform projection.

[0139] Among some possible solutions, combining Figure 4 The projection module 20 can be located at the headlight position of the vehicle 200. Exemplarily, the projection module 20 can be integrated with the headlights; that is, the headlights can function as the projection module 20 to project images and / or video. Of course, this application also applies to cases where the projection module 20 is independent of the headlights. Furthermore, the projection device can also be deployed in other locations within the vehicle, such as on the roof of the vehicle's cabin, at the front of the vehicle, or on the instrument panel (IP, or IP repeater).

[0140] In this application, the projection control device 10 can provide (e.g., output, send, transmit) a projected image to the projection module 20, which can then project the image onto an object space. The projected image may include one or more projected patterns. Optionally, the projection control device 10 and the projection module 20 can be integrated into the same device, or they can be separately installed in different devices. When they are separately installed in different devices, the projection control device 10 is connected to the projection module 20. This connection can include wired connection, wireless connection, and a combination of wired and wireless connection.

[0141] In some possible implementations, the projection system further includes a sensing device 30, which is used to collect data, such as one or more of the following: images, point cloud data, distance, speed, etc. The driving scene information acquired by the projection control device 10 may include the data collected by the sensing device 30, or the driving scene information may be information obtained by processing the data collected by the sensing device 30. Combined with... Figure 3A The sensing device 30 may include one or more devices from the sensing system 23, such as a positioning system 231, an inertial measurement unit 232, a radar 233, a lidar 234, a camera 235, a wheel speedometer 236, etc. For example, the sensing device 30 may include one or more of a visual sensor, a radar sensor, and a wireless communication device.

[0142] For example, a vision sensor includes a camera, such as camera 235 in vehicle 200. The camera may include a photosensitive unit capable of sensing light signals and forming an image. Examples of photosensitive units include complementary metal-oxide-semiconductor (CMOS), photocoupled device (CCD), and Live MOS. Cameras are typically classified based on the type of photosensitive unit in the image sensor. For instance, a camera with a CMOS photosensitive unit is a CMOS image sensor (CIS). A CIS may include one or more of the following: a color sensor, a monosensor, etc. A color sensor may include, for example, a red-green-blue (RGB) sensor. The camera can capture images of the vehicle's driving scene, including in-vehicle and out-of-vehicle images.

[0143] Radar sensors are devices that detect objects by emitting detection signals and receiving the echoes returned from targets in space. Based on the echo processing, radar sensors can obtain relevant information about targets in the perceived space, such as distance, position, angle, speed, reflectivity, reflection intensity, image, color, texture, and material, among other things. Depending on the type of detection signal emitted, radar sensors can be categorized into radar (electronic wave-based radar), lidar, and ultrasonic radar, among others.

[0144] A wireless communication device is a device capable of receiving wireless signals, and optionally also capable of transmitting wireless signals. After being transmitted into the object space, the wireless signal travels through multiple transmission paths to reach the receiving device. Based on the received wireless signal, the wireless communication device can sense objects in the object space and obtain one or more pieces of information such as the object's position, distance, direction of motion, angle, size, speed of motion, and material. For example, based on the basic Fresnel zone model, the wireless communication device can sense the motion of objects in space through the waveform of the received wireless signal. The wireless technologies used in the wireless communication device include one or more of the following: SparkLink (or NearLink), wireless local area network (WLAN), Bluetooth, Zigbee, radio frequency identification (RFID), ultra-wideband (UWB) technology, communication technologies based on long term evolution (LTE), 5th generation mobile networks (or 5th generation wireless systems, 5th-Generation, abbreviated as 5G or 5G technology), global system for mobile communications (GSM), general packet radio service (GPRS), or universal mobile telecommunications system (UMTS), etc.

[0145] It should be understood that Figure 4The projection system shown is merely an example. In some embodiments, the projection system 100 may include more projection modules 20 and more sensing devices 30, with multiple projection modules 20 positioned at different locations within the vehicle 200. The sensing devices 30 may include various types of sensors, which may be installed at multiple locations within the vehicle to acquire images from different fields of view. In yet other embodiments, the projection control device 10 may include multiple modules, which may be separately installed in different devices and work together to perform the functions of the projection control device 10.

[0146] In this application, the projection control device 10 can acquire vehicle driving scene information and, based on the vehicle driving scene information, enable the projection of a first projection pattern. This first projection pattern is used to indicate the distance between the vehicle and the target vehicle. Please see [link to application]. Figure 5 The first projected pattern projected in front of vehicle 200 reflects the distance between vehicle 200 and other vehicles (considered as target vehicles). Through this projection, the driver of the other vehicle can promptly perceive the presence of vehicles behind them and intuitively and accurately perceive the distance between vehicle 200 and themselves, improving the safety of vehicle 200 during driving operations. Furthermore, since the first projected pattern is two-dimensional and extends a certain area onto the ground in front of the vehicle, even if vehicle 200 itself is in the blind spot of another vehicle, the first projected pattern can still be projected into the visible area of ​​that other vehicle. Therefore, this application can effectively and safely interact with other vehicles, greatly reducing blind spot risks. In addition, the distance projection of this application is automatically triggered based on scene information recognition, easily realizing intelligent and proactive communication with other vehicles, greatly reducing the driver's operational procedures and further improving driving safety.

[0147] In summary, this application enables effective and safe interaction with other vehicles, significantly reducing the risks associated with blind spots and substantially improving driving safety when passing other vehicles. Especially when driving in poor lighting conditions or passing large vehicles, this application significantly reduces the risks associated with performing interactive actions, thereby enhancing vehicle safety. Poor lighting conditions include nighttime, tunnels, or other scenarios with poor lighting. Of course, this application can further implement distance warning functions and driving intention prompts, which will be described below.

[0148] The methods provided in the embodiments of this application will be described below.

[0149] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating a projection control method provided in an embodiment of this application. Optionally, this projection control method can be applied to a projection system, such as... Figure 4 The projection system shown, or the projection control method applied to Figure 3A and Figure 3B The vehicle shown. (As shown)Figure 6 The projection control method shown may include steps S601 to S602. It should be understood that the embodiments of the application do not limit the execution time, number of executions, etc., of one or more of the above steps. Steps S601 to S602 are as follows:

[0150] Step S601: The projection control device acquires the driving scene information of the first vehicle.

[0151] The projection control device is a computing device, and here it is used as an example to serve as the execution subject of this method. Exemplarily, the projection control device can be a computing device 101 in the vehicle 200, such as a DC, MDC, or ECU computing device. In some solutions, the projection control device may include multiple modules; for example, some modules may be located in the computing device, and some modules may be located in the projection module. Each module can be used to cooperate in completing the functions performed by the projection control device.

[0152] The driving scene information of the first vehicle is information used to indicate or describe the driving process of the first vehicle, including but not limited to one or more of the following: images of the driving scene of the first vehicle (or images of the surroundings of the first vehicle); point clouds of the driving scene of the first vehicle; the vehicle's own state data; information about obstacles in the driving scene of the first vehicle; and information about static elements in the driving scene of the first vehicle. The obstacle information includes but is not limited to one or more of the following: the obstacle's position (e.g., spatial position, lane position); the distance between the obstacle and the vehicle (i.e., the first vehicle); the obstacle's size; the obstacle's type; and the obstacle's motion information (e.g., speed, acceleration, direction of motion). Static elements include, for example, lane lines, dividing lines, directional arrows, signs, traffic lights, and other static elements in the scene.

[0153] In this embodiment, the driving scenario information of the first vehicle includes information about the target vehicle. The target vehicle information includes one or more of the following: target vehicle location information, target vehicle attribute information, etc. Specifically, the target vehicle location information indicates one or more of the following: the lane the target vehicle is in, the target vehicle's position relative to the first vehicle, the distance between the target vehicle and the first vehicle, etc. The target vehicle attribute information is data used to describe the state of the target vehicle; for example, the target vehicle attribute information indicates one or more of the following: the target vehicle's driving direction, the target vehicle's size, the target vehicle's type, and the target vehicle's speed data (e.g., speed, relative speed, acceleration, or relative acceleration, etc.).

[0154] Optionally, the information of the target vehicle can be obtained by collecting data through sensing devices or by processing the collected data reported by the sensing devices. Sensing devices include, for example, the sensor system 23 in vehicle 200.

[0155] In one possible implementation, the driving scenario information of the first vehicle also includes information about the first vehicle. This information includes one or more of the following: the first vehicle's position, its driving direction, its speed, its acceleration, and its continuous driving time. The first vehicle's information can be obtained from measurement data collected by the vehicle's sensing system 23. This sensing system includes one or more of the following: wheel speedometer, inertial measurement unit, navigation system, positioning system, gyroscope, vision sensor, radar sensor, and wireless communication device.

[0156] In some possible implementations, the first vehicle includes a sensing device for collecting data, such as one or more of the following: images, point cloud data, distance, and speed. Optionally, the projection control device receives the collected data reported by the sensing device, which can serve as the driving scene information of the first vehicle. Alternatively, the projection control device receives the collected data reported by the sensing device and processes it to obtain the driving scene information of the first vehicle. Alternatively, the projection control device is connected to a processing device, which processes the collected data from the sensing device to obtain the driving scene information of the first vehicle, and further provides the driving scene information of the first vehicle to the projection control device, enabling the projection control device to acquire the driving scene information of the first vehicle.

[0157] In some possible implementations, the driving scenario information of the first vehicle is continuously acquired in real time, which can reflect the driving scenario of the first vehicle at the current moment (or the current time period or a specified moment or time period).

[0158] Step S602: The projection control device enables the projection of the first projection pattern based on the driving scene information of the first vehicle.

[0159] The driving scenario information of the first vehicle reflects its driving environment, and based on this information, the current environment and risk level of the vehicle can be determined. Therefore, based on this information, a first projection pattern can be automatically enabled when needed to alert other road users, including the target vehicle, in the current environment. This allows other road users to perceive the first vehicle, and through proactive information interaction, the collision risk of the first vehicle can be reduced. In some solutions, the function of projecting this first projection pattern is called a range projection function, or a range-indicating light carpet.

[0160] The first projection pattern is described below. The first projection pattern is used to indicate the relative distance between the first vehicle and the target vehicle. Exemplarily, the first projection pattern may include one or more display elements, which are used to indicate the relative distance between the first vehicle and the target vehicle, thereby indicating the relative distance between the two vehicles. The display elements may include one or more of the following: graphics, text, or symbols. Exemplarily, graphics may include one or more of the following: shapes (e.g., arrows), lines, signs (e.g., warning signs), virtual avatars, etc. Text may include one or more of the following: numbers, Chinese characters, English characters, and other languages. Symbols may include one or more of the following: punctuation marks, mathematical symbols, or other ideographic symbols, etc.

[0161] In some possible implementations, the display elements (such as patterns, text, or symbols) in the first projected pattern may include static elements and / or dynamic elements. Static elements are elements that do not change over a period of time, while dynamic elements are elements whose display style, display method, shape, or content changes dynamically. Optionally, the dynamic effects of dynamic elements include, but are not limited to, dynamic appearance effects, dynamic emphasis effects, dynamic disappearance effects, or dynamic movement paths. Among them, appearance effects include, for example, appearing, flying in, erasing, moving from far to near, flipping, page turning, etc., and emphasis effects include, for example, zooming in and out, bolding, flashing, underlining, pulse, extending, and spreading effects, etc. The dynamic effects listed here are only examples, and specific implementations may include more or fewer effects. Dynamic effects can dynamically and vividly display the distance between the vehicle and other vehicles, making it more eye-catching and achieving a better prompting effect. While increasing the likelihood of being observed by other vehicles, it can also guide the driver of the own vehicle, improve the driver's focus, and further enhance interactive safety.

[0162] For ease of understanding, the following are exemplary design examples of two possible first projection patterns:

[0163] Design Example 1: The first projected pattern includes display elements used to indicate the relative distance between the first vehicle and the target vehicle. See also... Figure 5 The first projected pattern may include text elements, such as "Car 100 meters behind", to indicate that the distance between the location of the text element and vehicle 200 is 100 meters, or to indicate that the distance between another car and vehicle 200 is 200 meters. By viewing the text element, the driver of another car can perceive vehicle 200 and know the relative distance between the other car and vehicle 200.

[0164] like Figure 5The display elements of the first projection pattern shown can be static or dynamic. Here, we take its static display effect at a certain moment as an example. In the actual implementation, the display elements can have dynamic effects.

[0165] Optionally, the number of displayed elements can be one or more, and multiple displayed elements can be used to indicate different distances. See also Figure 7 , Figure 7 This is a schematic diagram of another projection pattern provided in an embodiment of this application. The first projection pattern includes display element #1, display element #2, and display element #3. Each display element includes a reference line and a text element, with the text element used to indicate the distance between the reference line and the first vehicle. Thus, by observing the first projection pattern, the target vehicle can estimate the relative distance between itself and the first vehicle.

[0166] Design Example 2: The first projection pattern includes at least two display areas (which can be viewed as two rectangular shapes, the shape is for illustrative purposes only) arranged along the front direction of the first vehicle. Each of the at least two display areas represents a preset distance length. Please refer to [link to relevant documentation]. Figure 8 , Figure 8 This is a schematic diagram of another projection pattern provided in an embodiment of this application. The first projection pattern includes display areas #1 to #5, each display area representing a corresponding distance length. The distance length represented by each display area can be predefined or pre-calculated. Here, "pre-" means before projection, such as at the factory or before projection. For example, each display area from #1 to #4 represents a distance length of 20 meters, while display area #5 represents a distance length of 40 meters. In this way, the target vehicle can estimate the relative distance between itself and the first vehicle by observing the first projection pattern.

[0167] In some possible implementations, the first projection pattern further includes display elements located in each display area, each display element indicating the distance between the display area and the first vehicle. For example, each display area may also include display elements indicating the distance between the current display area and the first vehicle; for instance, display area #1 may include the text "120 meters," indicating that display area #1 is 120 meters away from the first vehicle.

[0168] In some possible implementations, the brightness of at least two display areas changes gradually in a stepped manner in the direction opposite to the front direction of the first vehicle. For example, combined with Figure 7In the opposite direction to the front of the first vehicle, the brightness of display areas #1 to #5 gradually increases in a stepped manner. In this way, the driver of the target vehicle can estimate the distance between the first and target vehicles by combining the stepped changes in brightness, and realize whether the vehicles are approaching or moving away from them.

[0169] It should be noted that the various examples in this application can be combined without mutual exclusion. For example, design example 2 and design example 1 can be combined as a first display pattern.

[0170] The above provides an exemplary description of the projected pattern. The following describes how to enable the first projection.

[0171] In one possible design, the projection control device determines whether the distance-indicating trigger condition is met based on the driving scenario information of the first vehicle. If the distance-indicating trigger condition is met, the projection of the first projection pattern is enabled. The distance-indicating trigger condition constrains the triggering scenario of the distance-indicating projection function. The projection control device can determine whether the distance-indicating trigger condition is met based on the driving scenario information of the first vehicle, thereby precisely triggering the distance-indicating projection function in certain high-risk or necessary scenarios. Some possible distance-indicating trigger conditions are described below:

[0172] Condition 1: The target vehicle's position satisfies the first position condition. The target vehicle's position is related to the collision risk level. Determining whether to enable the projection of the first projection pattern based on the target vehicle's position helps reduce the collision risk between the target vehicle and the first vehicle. Furthermore, the first position condition includes one or more of the following conditions:

[0173] Condition 1a: The target vehicle is located in the adjacent lane of the first vehicle. A lane, also known as a driving lane or carriageway, is used for vehicle travel. A road typically accommodates multiple vehicles, thus forming multiple lanes. The target vehicle (or at least a portion of the target vehicle) and the first vehicle are located in different lanes, and the lane where the target vehicle (or at least a portion of the target vehicle) is located is adjacent to the lane where the first vehicle is located. Since vehicles in adjacent lanes are highly likely to interact, such as overtaking, cutting in, cutting out, changing lanes, turning, merging, and merging out, the solution in this application can alert the target vehicle in the adjacent lane, enabling it to perceive the distance between the first vehicle and the target vehicle, thereby improving driving safety when passing other vehicles.

[0174] In some cases, adjacent lanes are determined using road reference lines such as lane lines; that is, a lane is the road between two road reference lines. An adjacent lane is the lane located on the other side of a lane line relative to the vehicle's lane. For example, the driving scenario information of the first vehicle includes lane line information and target vehicle information. By identifying the road's lane lines, when the first vehicle is located on one side of the target lane line, and the target vehicle as a whole or at least a part of the target lane line is located on the other side, it is determined that the target vehicle is in the adjacent lane of the first vehicle, and condition 1a is satisfied. For example, combined with... Figure 7 The target vehicle and the first vehicle are located on opposite sides of the same lane line, with the target vehicle in the adjacent lane of the first vehicle.

[0175] In some cases, where lane markings are not present on the road, whether the target vehicle is located in the adjacent lane of the first vehicle can be determined by the distance between the target vehicle and the first vehicle in a first direction. For example, the first direction is perpendicular to the ground and perpendicular to the direction of the vehicle's front. Combined with... Figure 9 (a) Based on the driving scenario information of the first vehicle, the edge distance (e.g., denoted as D1) between the target vehicle and the first vehicle can be determined. The edge distance refers to the distance between the edge of the target vehicle approaching the first vehicle and the edge of the first vehicle approaching the target vehicle. When the edge distance D1 meets certain conditions, such as being greater than (or equal to) a first edge distance threshold and less than (or equal to) a second edge distance threshold, it is determined that the target vehicle is located in the adjacent lane of the first vehicle, and condition 1a is satisfied; otherwise, condition 1a is not satisfied. The second edge distance threshold is greater than the first edge distance threshold. Optionally, the first and second edge distance thresholds can be predefined or pre-designed. Of course, the above... Figure 9 (a) is merely an example; in some schemes, there may be other criteria for determining whether the target vehicle is in the adjacent lane of the first vehicle. For example, combining... Figure 9 (b) The projection control device determines whether the target vehicle is located in the adjacent lane of the first vehicle based on the center distance D2, and the edge distance D1 is used to represent the distance between the center of the target vehicle along the first direction and the center of the first vehicle along the first direction.

[0176] It should be understood that the above situations can be combined. For example, the position of the target vehicle and the lane lines can be combined to determine whether the target vehicle is located in the adjacent lane of the first vehicle.

[0177] Condition 1b: The target vehicle is located in front of the first vehicle. This can include one or more of the following situations: at least part of the target vehicle is located in front of the front of the first vehicle; at least part of the target vehicle is located in front of the rear of the first vehicle; the entire target vehicle is located in front of the rear of the first vehicle; or the entire target vehicle is located in front of the front of the first vehicle.

[0178] We know that it is relatively more difficult for a vehicle in front to observe a vehicle behind. In the above implementation, when the target vehicle is in front of the first vehicle, a first projection pattern is projected in front of the first vehicle, so that the target vehicle in front can more easily detect the presence of the first vehicle behind and intuitively perceive the distance between the first vehicle and the target vehicle, further reducing the risk caused by the blind spot of the vehicle in front and significantly improving driving safety when passing other vehicles.

[0179] Condition 1c: The distance between the target vehicle and the first vehicle is less than or equal to a preset first distance threshold. Here, the first distance threshold is predefined or pre-calculated; "predefined" here means before this determination. For example, the first distance threshold may be predefined, such as at the factory or during an application upgrade. Alternatively, the vehicle may obtain the first distance threshold from user input. Or, the vehicle may obtain the corresponding first distance threshold based on the current driving environment, which includes weather, geographical environment (such as mountains, cities, tunnels, etc.), road type (such as highways, urban roads, rural roads), road paving conditions, road surface smoothness, etc. In short, the vehicle can flexibly determine the first distance threshold based on environmental information to adapt to the distance indication function requirements in different scenarios.

[0180] For example, the first distance threshold is, for example, 50 meters (m), 100 meters, or 120 meters.

[0181] The inclusion of the above conditions makes the distance projection function more targeted and provides precise and effective alerts to target vehicles. On one hand, the closer the distance between the first vehicle and the target vehicle, the higher the likelihood of a driving interaction conflict. Triggering the distance projection function when the distance between the target vehicle and the first vehicle is less than a first distance threshold can more accurately reduce the danger of driving interactions between them. On the other hand, the clarity and brightness of the projected image are limited by distance; the projection effect is better within a certain distance range. Therefore, the above conditions ensure that the first projected pattern can more effectively alert other vehicles.

[0182] Optionally, the first location condition may also include other conditions, such as the target vehicle being located on a highway, in an urban area, or on a high-risk road segment (which is predefined). In specific implementations, more or fewer conditional constraints can be designed for the target vehicle's location; not all first location conditions are illustrated here.

[0183] Condition 2: The target vehicle's attributes satisfy the first attribute condition. Several possible first attribute conditions are described below:

[0184] Condition 2a: The target vehicle and the first vehicle are traveling in the same direction. It should be understood that "same direction" here does not mean the exact direction of their heads is the same, but rather that the first vehicle and the target vehicle are traveling along the same road direction. Furthermore, this direction of travel has a certain real-time aspect; that is, based on the currently collected driving scenario information, the first vehicle and the target vehicle are traveling in a certain direction along the road, but in subsequent time, the first vehicle and the target vehicle may travel along different road directions. For example, the target vehicle may exit the road from an exit ramp, or the first vehicle may turn, make a U-turn, or enter other road directions.

[0185] Vehicles traveling in the same direction are prone to conflict in their driving intentions. Therefore, the distance projection function can be triggered when the target vehicle and the first vehicle are traveling in the same direction, so as to reduce the probability of conflict in driving intentions between the target vehicle and the first vehicle, reduce the risk caused by the vehicle's blind spot, and significantly improve driving safety when passing other vehicles.

[0186] Condition 2b: The target vehicle is a vehicle of type 1. Type 1 includes at least one of the following: trucks, buses, trailers, or special vehicles. Special vehicles include, for example, one or more of the following: mud trucks, oil tankers, fire trucks, and heavy-duty transport vehicles. Optionally, this type 1 can be predefined or pre-calculated.

[0187] The first type of vehicle is typically more dangerous, with larger blind spots compared to other types (such as sedans and sports cars), resulting in higher interaction risks. In the above method, triggering the distance projection function when approaching this specific type of vehicle makes the function more targeted and provides a more significant warning, improving driving safety. Since there are many ordinary vehicles on the road, the distance warning function is not triggered for vehicles other than the first type, avoiding repeated triggering and low-risk activation, thus improving the user experience.

[0188] Condition 2c: The target vehicle's size exceeds a first size threshold. This size includes one or more of the following: length, width, height, or volume. The first size threshold is predefined or pre-calculated. For example, the first size threshold is a vehicle length greater than (or equal to) 6 meters. Larger vehicles have larger blind spots and higher interaction risks. The addition of this condition makes the distance projection function more targeted and provides precise and effective warnings for large vehicles, improving safety when passing them.

[0189] Condition 2d: The speed data of the target vehicle satisfies the first speed condition.

[0190] The speed data includes speed, relative speed with the first vehicle, acceleration, and relative acceleration with the first vehicle. The speed data satisfies a first speed condition, such as the target vehicle's speed falling within a first speed range, the target vehicle's acceleration falling within a first acceleration range, the relative speed between the target vehicle and the first vehicle falling within a second speed range, and the relative acceleration between the target vehicle and the first vehicle falling within a second acceleration range.

[0191] For example, the first speed range is greater than 80 kilometers per hour (km / h), that is, the distance projection function is triggered when the speed of the target vehicle is greater than 80 km / h. As another example, the first acceleration range is greater than or equal to 20 meters per second (m / s), that is, the distance projection function is triggered when the speed of the target vehicle is greater than or equal to 20 m / s.

[0192] As another example, the first relative speed condition is that the relative speed between the target vehicle and the first vehicle is greater than 60 km / h.

[0193] Optionally, the first attribute condition may also include other conditions, such as conditions constraining the cargo status of the target vehicle, conditions constraining the estimated weight of the target vehicle, etc. In specific implementations, more or fewer condition constraints can be designed for the target vehicle's attributes; not all first attribute conditions are illustrated here.

[0194] Condition 3: The predicted driving intention of the target vehicle satisfies the first intention condition. The following describes two types of first intention conditions:

[0195] Condition 3a: The predicted driving intention of the target vehicle belongs to the first intention type. For example, the first intention type includes one or more of the following intention types: lane change, cut in, overtake, pass, cut off, etc.

[0196] For example, when the driving scenario information of the first vehicle indicates that the target vehicle is moving laterally towards the lane closest to the first vehicle, or when the target vehicle's turn signal indicating proximity to the first vehicle is illuminated, the predicted driving intention of the target vehicle is determined to be: changing lanes towards the lane closest to the first vehicle. In conjunction with the aforementioned example, this predicted driving intention constitutes a lane change, thus satisfying the first intention condition.

[0197] Condition 3b: The predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle. This conflict means that the predicted driving intentions of the target vehicle and the first vehicle overlap in time and space; for example, they may both pass through the same trajectory point and their predicted times of passing that trajectory point are relatively close.

[0198] When the predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle, there is a high risk in the driving interaction between the target vehicle and the first vehicle. Therefore, when the predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle, enabling the distance projection function can make the distance projection function more targeted, have a more significant prompting effect, and improve driving safety.

[0199] Optionally, the first intent condition may also include other conditions.

[0200] Condition 4: The state of the first vehicle satisfies the first state condition. Three possible first state conditions are described below.

[0201] Condition 4a: The speed data of the first vehicle satisfies the second speed condition. The speed data includes speed and / or acceleration, and the speed data satisfies the first speed condition, for example, the speed of the first vehicle falls within the second speed range and / or the acceleration of the first vehicle falls within the second acceleration range. For example, the second speed range is greater than 60 km / h; that is, when the speed of the first vehicle is greater than 60 km / h, the distance projection function is triggered. As another example, the second acceleration range is greater than or equal to 20 m / s; that is, when the speed of the first vehicle is greater than or equal to 20 m / s, the distance projection function is triggered.

[0202] Condition 4b: The position of the first vehicle satisfies the second position condition. For example, the first vehicle is located on a highway, in an urban area, or on a high-risk road.

[0203] Condition 4c: The continuous driving time of the first vehicle satisfies the first continuous driving time condition. For example, the continuous driving time of the first vehicle exceeds 3 hours.

[0204] Optionally, the first state condition may also include other conditions.

[0205] It should be understood that the above-described various implementation methods can be combined. For example, the ranging trigger condition may include some or all of the aforementioned conditions. When multiple conditions are included, some conditions may be mandatory, or some conditions may be combined with other conditions as optional conditions that can be satisfied.

[0206] As an example of a combination, the distance triggering condition is satisfied if conditions 1 through 4 are met.

[0207] As another example of a combination, the distance indication triggering conditions are: the target vehicle is located in the adjacent lane of the first vehicle (condition 1a), the distance between the target vehicle and the first vehicle meets a preset first distance threshold (condition 1c), the target vehicle is a first type of vehicle (condition 2b), or the size of the target vehicle is greater than (or greater than or equal to) a first size threshold (condition 2c). In other words, among the distance indication triggering conditions, conditions 1a and 1c are mandatory, while conditions 2b and 2c require at least one of them to be met.

[0208] As another example of a combination, the distance indication triggering conditions are: the target vehicle is located in the adjacent lane of the first vehicle (condition 1a), the distance between the target vehicle and the first vehicle meets a preset first distance threshold (condition 1c), and the speed data of the target vehicle meets a first speed condition (condition 2d) or the speed data of the first vehicle meets a second speed condition (condition 4a). That is to say, among the distance indication triggering conditions, conditions 1a and 1c are mandatory, while conditions 2d and 4a require at least one of them to be met.

[0209] In the actual implementation process, there may be a variety of possible combinations of the above conditions and other conditions not shown, which will not be listed here.

[0210] The above provides an exemplary description of rule-based conditional judgment. In other possible designs, whether to enable the projection of the first projection pattern in front of the first vehicle can be determined using artificial intelligence (AI) models or information output by AI models. These AI models include, but are not limited to, machine learning models, such as neural network models. In some solutions, the AI ​​model can be trained using sample data, which includes multiple driving scenario information, each containing information about at least one other vehicle besides the first vehicle. The trained AI model can determine whether to trigger the distance projection function based on the current driving scenario data of the first vehicle. Optionally, the AI ​​model can be pre-set in the projection control device, or the AI ​​model and the projection control device can be set in the same computing device, or the AI ​​model and the projection control device can be set in different devices, but they can have a communication connection to transmit data.

[0211] To facilitate understanding of the role of AI models, three possible implementation methods are described below:

[0212] In one implementation method, the projection control device obtains perception information based on the driving scene information of the first vehicle and a first machine learning model. Based on the perception information, it determines whether the driving scene information of the first vehicle meets the distance-indicating trigger condition. If the distance-indicating trigger condition is met, a first projection pattern is projected. The perception information is used to determine whether the driving scene information of the first vehicle meets the distance-indicating trigger condition. For example, the first driving scene information can be input into the first machine learning model, which can identify and extract complex scene information to obtain more usable perception information. For instance, the driving scene information of the first vehicle may be image data collected such as point clouds or images. The first machine learning module can process this information to obtain information about road elements and obstacles in the scene. Road elements include lane lines and traffic signs, while obstacle information includes the location or attributes of obstacles.

[0213] In the second implementation method, the projection control device obtains output result information based on the driving scene information of the first vehicle and the first machine learning model. The output result information indicates whether the driving scene information of the first vehicle meets the distance indication trigger condition. If the distance indication trigger condition is met, the first projection pattern is projected. In the above implementation method, the machine learning model can identify and extract driving scene information, and further determine whether the distance indication trigger condition is met. Combining the machine learning model makes the determination of the distance indication trigger condition more accurate.

[0214] In the third implementation method, the projection control device inputs the driving scene information of the first vehicle into the first machine learning model to obtain output result information. The output result information indicates whether to enable the projection of a first projection pattern in front of the first vehicle. In response to the output result information indicating that the projection of the first projection pattern in front of the first vehicle is enabled, the first projection pattern is projected in front of the first vehicle. In the above implementation method, the machine learning model can complete the identification and extraction of driving scene information, and further directly control the enabling and disabling of the distance projection function. Combined with the machine learning model, the control of the distance projection function becomes more precise.

[0215] In some scenarios, the vehicle is constantly in motion, and the driving scene information of the first vehicle is continuously collected in real time. The distance indication trigger condition may only be met at certain times or in certain scenarios. Based on the driving scene information of the first vehicle, the projection control device can deactivate the projection of the first projection pattern, that is, stop the projection of the first projection pattern.

[0216] As one possible implementation, the projection control device terminates the projection of the first projection pattern when the distance triggering condition is no longer met. For example, the driving scene information that meets the distance triggering condition is collected in a first moment or a first time period. When the driving scene information collected in a second moment or a second time period no longer meets the distance triggering condition, the projection of the first projection pattern is terminated. Thus, by promptly exiting the distance projection function when the distance triggering condition is not met, the power consumption of the projection module can be reduced, and the projection area can be made available for other information that needs to be projected, improving the intelligence of the vehicle projection function and enhancing the user experience.

[0217] Optionally, the first projection pattern may be a portion of the pattern in the projected image, or a portion of a layer belonging to the projected image. When the first projection pattern ends, the projection function may not be turned off. In this case, the projection control device can still continue to project the image, but the projected image will no longer include the first projection pattern.

[0218] The content of the first projection pattern and the design of enabling the projection of the first projection pattern have been introduced above. The following describes the possible designs of the projection area of ​​the first projection pattern:

[0219] Design 1: The projection position of the first projection pattern is in front of the first vehicle. That is, projecting the first projection pattern includes projecting the first projection pattern in front of the first vehicle. The front of the first vehicle includes the front of the passenger compartment of the first vehicle, or the front of the hood of the first vehicle. For example, the projection module can be installed in the headlights of the vehicle, and the first projection pattern is projected from the vehicle's headlights towards the front of the vehicle.

[0220] Design 2: The projection area of ​​the first projection pattern is at least a portion of the lane where the first vehicle is located. Figure 7 For example, when the first vehicle is traveling on a road with lane markings, the entire projection area of ​​the first projection pattern falls within the lane where the first vehicle is located. In this way, other vehicles can sense the lane where the first vehicle is located based on the lane position of the first projection pattern, and proactively avoid driving interactions with other vehicles, thus improving driving safety when passing other vehicles.

[0221] Furthermore, the projection area of ​​the first projection pattern does not occupy the area outside the lane where the first vehicle is located.

[0222] It should be understood that the design of the projection area of ​​the first pattern must comply with local laws and regulations. For example, if the law in the location of the first vehicle stipulates that the projection area of ​​the first vehicle is within 60 meters in front of the first vehicle, the area of ​​the first projection pattern can be controlled within 60 meters in front of the first vehicle through design.

[0223] Design 3: The projection area of ​​the first projection pattern is at least partially located in front of the target vehicle. (See also...)Figure 5 , Figure 7 and Figure 8 At least a portion of the first projected pattern needs to be projected onto the front of the target vehicle, which can greatly increase the likelihood that the target vehicle (or the driver of the vehicle) will perceive the first projected pattern, thereby effectively interacting with the target vehicle, greatly reducing blind spot risks, and further improving driving safety.

[0224] Design 4: The projection area of ​​the first projected pattern is fixed relative to the first vehicle. Combined with... Figure 5 , Figure 7 and Figure 8 Projecting the first projection pattern onto a projection area fixed relative to the first vehicle can reduce the amount of computation and computational complexity, and can avoid positional jitter of the projection pattern, resulting in a better display effect.

[0225] Design 5: The projection area of ​​the first projected pattern is related to the distance between the first vehicle and the target vehicle. Considering the relative distance between the target vehicle and the first vehicle when projecting the first pattern increases the probability that the first projected pattern will be perceived by the target vehicle, thus improving the interactive effect.

[0226] In some implementations, the projection area of ​​the first pattern is fixed relative to the target vehicle. As one possible implementation, the projection control device determines the target projection area based on the distance between the first vehicle and the target vehicle. The target projection area is located in front of the target vehicle, and the projection area of ​​the first projection pattern is located within the target projection area. See also... Figure 10 In (a) and (b), as the first vehicle continues to move, the target projection area is always located in front of the target vehicle, and there is a distance D3 between the target projection area and the front of the target vehicle. Based on the distance between the first vehicle and the target vehicle, the projection control device can determine the projection position of the target projection area relative to the first vehicle, and further control the projection of the first projection pattern onto the target projection area. Furthermore, the target projection area is located within the visible area of ​​the target vehicle, combined with... Figure 10 and Figure 2 The area in front of and to the side of the vehicle is a blind spot. By setting the projection area of ​​the target within the visible area of ​​the target vehicle, that is, within the area with a distance D3 from the front of the target vehicle, the target vehicle can easily observe the first projection pattern, thus improving the effectiveness of the interaction.

[0227] The first projected pattern can dynamically indicate the relative distance between the first vehicle and the target vehicle, for example... Figure 10 The 40 meters shown in (a) Figure 10As shown in Figure b, the 5-meter distance allows the target vehicle to intuitively perceive the relative distance to vehicles behind it. For the target vehicle, the first projected pattern is fixed relative to it, allowing the target vehicle to observe the distance to the first vehicle from a fixed area. This better aligns with the observation habits of the target vehicle's user, reducing the risk of collision and thus improving the driving safety of the first vehicle.

[0228] In some possible implementations, the projection control device can update the position of the target projection area based on the current distance between the first vehicle and the target vehicle. Thus, as the vehicles continuously move, and since the projection area of ​​the first projection pattern is related to the distance between the first vehicle and the target vehicle, the projection area of ​​the first projection pattern is updated accordingly as the distance between the first vehicle and the target vehicle changes, to adapt to the change in distance between the first vehicle and the target vehicle.

[0229] It should be understood that the above designs can be combined without mutual exclusion, for example, combining Design 1, Design 2, Design 3, and Design 4. Or combining Design 1, Design 2, Design 3, and Design 5. The combinations will not be elaborated further here.

[0230] The foregoing has described the distance projection function. The following describes some other possible designs of the embodiments of this application.

[0231] In some possible designs, the projection control device, based on the driving scenario information of the first vehicle, enables the projection of a second projection pattern in front of the first vehicle. This second projection pattern indicates that the distance between the first vehicle and the target vehicle has reached a warning distance. Since interactions between vehicles inevitably involve close proximity, the proximity warning function further alerts the target vehicle that the distance between the first and target vehicles has reached the warning distance. This helps the target and first vehicles avoid interaction risks and improves the safety of driving interactions.

[0232] In some possible implementations, the projection control device enables the projection of a second projection pattern in front of the first vehicle based on the driving scene information of the first vehicle. The method further includes: determining whether a distance warning condition is met based on the driving scene information of the first vehicle; and if the distance warning condition is met, projecting the second projection pattern in front of the first vehicle. Based on conditional rules, the triggering of the distance projection function is traceable, which helps cultivate user adaptation to the distance projection function and improves the user experience.

[0233] As one possible implementation, the distance-based alarm condition includes the distance between the first vehicle and the target vehicle being less than or equal to a second distance threshold. Combined with... Figure 11When the distance D4 between the target vehicle and the first vehicle is less than the second distance threshold D0, the projection control device can project a second projection pattern to indicate that the distance between the first vehicle and the target vehicle has reached a warning distance. The second distance threshold is predefined, pre-determined, or user-defined. Here, "pre-defined" means that in some scenarios, the second distance threshold can be adaptively changed before the current determination. For example, the second distance threshold could be 10 meters, 20 meters, etc.

[0234] As one possible implementation, the distance alarm condition may also include one or more of the conditions included in the aforementioned distance trigger condition. Alternatively, the indicators of the conditions in the distance alarm condition may include some or all of the indicators of the conditions in the distance trigger condition, but the conditions corresponding to the indicators are more stringent.

[0235] For example, the distance warning conditions may also include one or more of the following conditions: (a) the target vehicle is located in the adjacent lane of the first vehicle; (b) the target vehicle is located in front of the first vehicle; (c) the target vehicle is a preset second type of vehicle; (d) the size of the target vehicle is greater than a second size threshold; (e) the speed data of the target vehicle meets a third speed condition; (f) the speed data of the first vehicle meets a fourth speed condition; (g) the relative speed between the target vehicle and the first vehicle meets a second relative speed condition; (h) the predicted driving intention of the target vehicle meets a second intention condition; (i) the predicted driving intention of the target vehicle conflicts with the predicted driving intention of the first vehicle. For related descriptions, please refer to the description of the distance triggering conditions above. For example, the second type includes at least one of trucks, buses, trailers, or special vehicles. In some embodiments, the first type and the second type are the same; in other embodiments, the second type includes some types of the first type. For yet another example, the first size threshold and the second size threshold are the same. In still other embodiments, the first size threshold and the second size threshold are different, for example, the second size threshold is greater than the first size threshold. Similarly, other indicators, such as speed, acceleration, relative speed, and driving intention, may have the same or different thresholds as the indicators in the aforementioned distance indication trigger conditions.

[0236] As another possible implementation, whether to enable the projection of the second projection pattern in front of the first vehicle can be determined using an AI model, or by using information output by an AI model. The AI ​​model includes, but is not limited to, machine learning models, such as neural network models. For a related description, please refer to the aforementioned implementation of enabling the projection of the first pattern using an AI model.

[0237] As one possible implementation, the first projection pattern and the second projection pattern belong to the same layer of the same projection image, or the first projection pattern and the second projection pattern belong to different layers of the same projection image. Please refer to [link to relevant documentation]. Figure 12 ,likeFigure 11 The projected image shown may include multiple layers, such as layer #1, layer #2, and layer #3. Layer #1 is a light carpet layer used for displaying a light carpet within a certain area, while layer #2 is a distance indication layer, including a first projected pattern. Layer #3 is also a distance indication alarm layer, including a second projected pattern, which is used when displaying the projected image. The projection control device can merge multiple layers to obtain the projected image. Furthermore, when the pattern in one layer finishes projection, the patterns in other layers can continue projection. For example, when the second projected pattern finishes projection, the first projected pattern can continue projection.

[0238] As one possible implementation, the projection control device stops projecting the second projection pattern when the distance alarm condition is no longer met. This timely exit of the distance alarm function when the condition is not met reduces the power consumption of the projection module and frees up projection area for other information, enhancing the intelligence of the vehicle's projection function and improving the user experience.

[0239] In some other possible implementations, the distance alarm may not require an additional projection pattern display. For example, the distance alarm function can be achieved through changes in the display effect or presence status of the first projection pattern. Two possible examples are described below:

[0240] In one possible example, the first projection pattern is contained in each of a plurality of consecutive projected image frames. When the distance warning condition is met, the display style of the first projection pattern is different in at least two of the plurality of projected image frames. Furthermore, the variation in the display style of the first projection pattern in the plurality of projected image frames is used to indicate that the distance between the first vehicle and the target vehicle has reached a warning distance. Figure 13 (a) and Figure 13 (b) shows two consecutive image frames, under the condition that the distance alarm condition is met. Figure 13 In the image frame shown in (a), the first projection pattern is displayed normally, while Figure 13 The first projection pattern in the image frame shown in (b) is displayed in bold to indicate that the distance between the first vehicle and the target vehicle has reached the warning distance.

[0241] In another possible example, when the distance warning condition is met, the first projection pattern is included in the first part of the image frames of a series of consecutive projection image frames, the second part of the image frames of the series of projection image frames does not include the first projection pattern, and the change in the presence state of the first projection pattern in the series of projection image frames is used to indicate that the distance between the first vehicle and the target vehicle has reached the warning distance. Figure 14 (a) and Figure 14(b) shows two consecutive image frames, under the condition that the distance alarm condition is met. Figure 14 In the image frame shown in (a), the first projection pattern is displayed normally, while Figure 14 The first projection pattern in the image frame shown in (b) is no longer displayed, thus creating a flashing effect in multiple image frames, indicating that the distance between the first vehicle and the target vehicle has reached the warning distance.

[0242] In some other possible designs, the projection control device can project a third projection pattern in front of the first vehicle. This third projection pattern indicates the first vehicle's initial driving intention. Projecting the third projection pattern allows the target vehicle to perceive the first vehicle's driving intention, which helps the target vehicle and the first vehicle avoid interaction risks and improves the safety of driving interactions.

[0243] The driving intention includes, but is not limited to, one or more of the following: the vehicle's driving operations (e.g., acceleration, braking, steering), the vehicle's driving interaction behaviors (e.g., overtaking, lane changing, cutting in, cutting out, merging), the vehicle's driving route (e.g., navigation route), and the vehicle's lighting operations (e.g., left turn signal activating, right turn signal activating). Optionally, the third projected pattern may include one or more display elements, including but not limited to, one or more of the following: images, text, symbols, etc.

[0244] For example, please see Figure 10 and Figure 13 The projected image includes a third projection pattern, which includes graphics (e.g., arrows) and text (i.e., "accelerating"), to indicate that the first vehicle's driving intention is to accelerate, and may further indicate that the first vehicle is accelerating to overtake.

[0245] For another example, see Figure 15 In (a), the projected image of the first vehicle includes a light carpet and other cue patterns. The shape of the light carpet and the third projection pattern can indicate the first vehicle's initial driving intention. For example, if the end of the light carpet away from the vehicle bends to the right, combined with the right-side lane-change path arrow in the third projection pattern, it can indicate that the first vehicle's driving intention is to change lanes to the right. Of course, in some possible solutions, the projected image of the first vehicle is only displayed within the lane area of ​​the first vehicle, such as... Figure 15 In (b), the light carpet may remain unchanged or change slightly (not exceeding the lane where the first vehicle is located), while the third projection pattern remains the right lane change path arrow, which can indicate that the first vehicle's driving intention is to change lanes to the right.

[0246] Optionally, the first driving intention may be determined by the projection control device based on the driving status data of the first vehicle, or the first driving intention may be provided to the projection control device by other devices.

[0247] As one possible implementation, the first projection pattern and the third projection pattern belong to the same layer of the same projection image, or the first projection pattern and the third projection pattern belong to different layers of the same projection image. Please refer to [link to relevant documentation]. Figure 16 ,like Figure 15 The projected image shown in (b) may include multiple layers, such as layer #1, layer #2, and layer #4, and under some conditions, layer #3. Layer #1 is a light carpet layer used for displaying the light carpet within a certain area, while layer #2 is a distance indication layer including a first projection pattern. Layer #4 is a driving intention layer including a third projection pattern. When displaying the projected image, the projection control device can fuse multiple layers to obtain the projected image. Furthermore, when the projection of a pattern in one layer ends, the patterns in other layers can continue to be projected. For example, when the third projection pattern ends, the first projection pattern can continue to be projected.

[0248] As one possible implementation, the projection of the third projection pattern ends after the first driving intention is canceled or executed. For example, when the right turn signal of the first vehicle is turned on, the projection control device projects as shown in the image. Figure 15 The projected image shown in (b) is shown, and the projection control device stops projecting when the right turn signal is off. Figure 15 The third projected pattern in (b) is displayed, while the other parts can continue to be projected normally. For example, when the right turn signal of the first vehicle is activated, the projection control device projects as shown in [example image]. Figure 15 As shown in (b), the projection control device stops projecting the image after the first vehicle makes a right lane change. Figure 15 The third projection pattern in (b) is used, while the other parts can continue to be projected normally.

[0249] In this way, timely exiting the projection of the driving intention after the first driving intention is canceled or executed can reduce the power consumption of the projection module and make room for other information that needs to be projected, thereby improving the intelligence of the vehicle projection function and enhancing the user experience.

[0250] Optionally, the projection operation can be implemented using a projection module. Combined with... Figure 4 The projection control device 10 can provide a projected image to the projection module 20, and the projected image may include a projected pattern. The projection module 20 can perform a projection operation to project the projected image (including the projected pattern) into the object space. Optionally, the projection module can be installed in the vehicle headlight.

[0251] exist Figure 6In the illustrated embodiment, the projection control device can project a first projection pattern when the distance indication trigger condition is met, to indicate the distance between the vehicle and the target vehicle. Through the projected first projection pattern, the target vehicle (or its driver) can promptly perceive the presence of a vehicle behind it and intuitively and accurately perceive the distance between the target vehicle and the first vehicle, improving the safety of the first vehicle when performing driving operations. Furthermore, since the first projection pattern is two-dimensional and extends a certain area forward of the first vehicle, even if the first vehicle itself is within the target vehicle's blind spot, the first projection pattern can still be projected into the target vehicle's visible area. Therefore, this information interaction method can effectively exchange information with the target vehicle, greatly reducing blind spot risks.

[0252] The methods of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0253] It should be understood that the division of units in the apparatus provided in this application embodiment is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the apparatus can be implemented by a processor calling software. For example, the apparatus includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a CPU or MPU, and the memory is either internal or external to the apparatus.

[0254] Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all of the units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD (Programmable Logic Controller). Taking an FPGA as an example, it can include a large number of logic gates, and the connection relationships between these logic gates are configured through configuration files to achieve the functionality of some or all of the above units.

[0255] In the embodiments of this application, each unit in the device may be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, MPU, digital signal processor (DSP), ASIC, FPGA, or a combination of at least two of these processor forms.

[0256] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as including a CPU and an FPGA, or including a CPU and an MCU, or including a CPU and a GPU, etc. Several possible devices are listed below.

[0257] Please see Figure 17 , Figure 17 This is a schematic diagram of a projection control device provided in an embodiment of this application. Optionally, the projection control device 170 can be a standalone device, such as a vehicle or a computing device (e.g., a DC). Alternatively, the projection control device 170 can also be a component within a standalone device (such as a vehicle or a DC), such as a chip or an integrated circuit. The projection control device 170 is used to implement the aforementioned projection control method, for example... Figure 6 The projection control method and its possible implementation methods are shown.

[0258] For example, the projection control device 170 includes an acquisition unit 1701 and a processing unit 1702. The acquisition unit 1701 performs one or more operations such as receiving and acquiring, while the processing unit 1702 performs one or more operations such as processing, determining, generating, calculating, and updating. In some embodiments, the information processed by the processing unit 1702 can be provided to other devices for projection, display, storage, or further processing. It should be understood that the unit division here is only illustrative; in specific implementations, some units may be combined, or a single unit may be divided into multiple units.

[0259] In one possible design, the projection control device 170 is used to implement the aforementioned projection control method.

[0260] In one possible implementation, the acquisition unit 1701 is used to acquire driving scene information of the first vehicle, and the processing unit 1702 is used to enable projection of a first projection pattern based on the driving scene information of the first vehicle. The driving scene information includes information about the target vehicle, and the first projection pattern is used to indicate the relative distance between the first vehicle and the target vehicle. Possible designs for the distance indication triggering conditions and the projection pattern can be found in the foregoing method embodiments.

[0261] In one possible implementation, the processing unit 1702 is further configured to determine whether the distance triggering condition is met based on the driving scene information of the first vehicle, and if the distance triggering condition is met, enable the projection of the first projection pattern.

[0262] In one possible implementation, the processing unit 1702 is further configured to obtain perception information based on the driving scene information of the first vehicle and the first machine learning model, determine whether the driving scene information of the first vehicle meets the distance indication triggering condition based on the perception information, and project a first projection pattern if the distance indication triggering condition is met.

[0263] In one possible implementation, the processing unit 1702 is further configured to obtain output result information based on the driving scene information of the first vehicle and the first machine learning model. The output result information indicates whether the driving scene information of the first vehicle meets the distance indication triggering condition. If the distance indication triggering condition is met, a first projection pattern is projected.

[0264] In one possible implementation, the processing unit 1702 is further configured to input the driving scene information of the first vehicle into the first machine learning model to obtain output result information, the output result information indicating whether to enable the projection of the first projection pattern in front of the first vehicle, and in response to the output result information indicating that the projection of the first projection pattern in front of the first vehicle is enabled, the first projection pattern is projected in front of the first vehicle.

[0265] In another possible implementation, the processing unit 1702 is further configured to provide a first projection pattern to the projection module so that the projection module projects the first projection pattern.

[0266] In another possible implementation, the processing unit 1702 is further configured to determine a target projection area based on the distance between the first vehicle and the target vehicle. The target projection area is located in front of the target vehicle, and the projection area of ​​the first projection pattern is located within the target projection area. Further, the projection area of ​​the first projection pattern is fixed relative to the target vehicle.

[0267] In another possible implementation, the processing unit 1702 is further configured to update the position of the target projection area based on the current distance between the first vehicle and the target vehicle.

[0268] In another possible implementation, the processing unit 1702 is further configured to enable the first projection pattern to no longer be projected based on the driving scene information of the first vehicle.

[0269] In another possible implementation, the processing unit 1702 is also configured to end the projection of the first projection pattern when the distance triggering condition is no longer met.

[0270] In another possible implementation, the processing unit 1702 is further configured to enable a second projection pattern to be projected in front of the first vehicle based on the driving scene information of the first vehicle. The second projection pattern is used to indicate that the distance between the first vehicle and the target vehicle has reached a warning distance.

[0271] In another possible implementation, the processing unit 1702 is further configured to determine whether the distance warning condition is met based on the driving scene information of the first vehicle, and to project a second projection pattern in front of the first vehicle when the distance warning condition is met. The second projection pattern is used to indicate that the distance between the first vehicle and the target vehicle has reached the warning distance.

[0272] In another possible implementation, the processing unit 1702 is further configured to terminate the projection of the second projection pattern if the distance alarm is no longer satisfied.

[0273] In another possible implementation, the processing unit 1702 is further configured to project a third projection pattern in front of the first vehicle, the third projection pattern being used to indicate the first driving intention of the first vehicle.

[0274] Furthermore, the processing unit 1702 is also used to determine the first driving intention of the first vehicle based on the driving status data of the first vehicle.

[0275] In another possible implementation, the square processing unit 1702 is further configured to end the projection of the third projection pattern after the first driving intention is canceled or after the first driving intention is executed.

[0276] Please see Figure 18 , Figure 18 This is a schematic diagram of another projection control device provided in the embodiments of this application, as shown below. Figure 18 The projection control device 180 shown can be a standalone device, such as a vehicle or a computing device (e.g., a DC). Alternatively, the projection control device 180 can also be a component within a standalone device (such as a vehicle or a DC), such as a chip or integrated circuit. The projection control device 180 is used to implement the aforementioned projection control method, for example... Figure 6 The projection control method and its possible implementation methods are shown.

[0277] The projection control device 180 may include at least one processor 1801 and a memory 1803. Optionally, it may also include a communication interface 1802. Further optionally, it may also include a connection line 1804, wherein the processor 1801, the communication interface 1802 and / or the memory 1803 are connected via the connection line 1804, and / or communicate with each other via the connection line 1804 to transmit control signals and / or data signals.

[0278] in:

[0279] Processor 1801 is a module that performs arithmetic and / or logical operations, and may specifically include one or more of the following modules: CPU, application processor (AP), MCU, ECU, GPU, MPU, ASIC, image signal processor (ISP), DSP, FPGA, complex programmable logic device (CPLD), or coprocessor, etc.

[0280] The communication interface 1802 can be used to provide information input or output to at least one processor, or to receive and / or transmit signals to externally transmitted signals. For example, the communication interface 1802 may include interface circuitry. For instance, the communication interface 1802 may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). Optionally, the communication interface 1802 may also include a radio frequency transmitter, an antenna, etc. If the communication interface 1802 includes an antenna, the number of antennas can be one or more.

[0281] As one possible design, if the projection control device 180 is a standalone device, the communication interface 1802 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0282] As another possible design, if the projection control device 180 is a chip or circuit, the communication interface 1802 may include an input interface and an output interface, which may be the same interface or different interfaces.

[0283] Alternatively, the functionality of the communication interface 1802 can be implemented via transceiver circuitry or a dedicated transceiver chip.

[0284] The memory 1803 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 1803 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0285] The functions and actions of each module or unit in the projection control device 180 listed above are merely illustrative examples.

[0286] Each functional unit in the projection control device 180 can be used to implement the aforementioned projection control method, for example... Figure 6 The projection control method and its possible implementation methods are shown.

[0287] Optionally, the processor 1801 may be a processor specifically designed to perform the aforementioned methods (for ease of distinction, referred to as a dedicated processor), or a processor that performs the aforementioned methods by calling a computer program (for ease of distinction, referred to as a dedicated processor). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0288] Optionally, if the projection control device 180 includes at least one memory 1803, and the processor 1801 implements the aforementioned projection control method by calling a computer program, the computer program can be stored in the memory 1803.

[0289] This application also provides a chip, which includes logic circuitry and a communication interface. The communication interface is used to receive and / or send information, or to input and / or output information. The logic circuitry is used to process the information. This chip is used to implement the aforementioned projection control method, for example... Figure 6 The projection control method and its possible implementation methods are shown.

[0290] This application provides a vehicle, combined with Figure 3B The vehicle 200 includes a projection system 100 and a sensing device 30 (optionally, the sensing device 30 is also included in the projection system 100). The sensing device is used to collect driving scene information of the vehicle and provide this information to the projection system.

[0291] For example, combined Figure 3A The projection control device 10 in the projection system 100 can be implemented by the computing device 101, and the sensing device 30 can include the sensing system 23, or some or all of the devices in the sensing system 23.

[0292] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor (or projection control device), implement the aforementioned projection control method, for example... Figure 6 The projection control method and its possible implementation methods are shown in the embodiments.

[0293] This application also provides a computer program product, which includes computer instructions for implementing the aforementioned projection control method, for example... Figure 6 The projection control method and its possible implementation methods are shown.

[0294] It should be noted that, in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0295] In this embodiment, the names of information and devices are given exemplary purposes to facilitate understanding of the content of this solution. In specific implementations, their names may have other designs. Furthermore, the names of the same thing may also have different designs in different scenarios.

[0296] In the embodiments of this application, "at least one" refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items.

[0297] For example, at least one of a, b, or c can be represented as: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "AND / OR" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "OR" relationship.

[0298] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first," "second," etc., in the embodiments of this application is for distinguishing multiple objects and is not for limiting the order, sequence, priority, or importance of multiple objects. Similarly, terms like "first projection pattern" and "second projection pattern" are merely for convenience in describing operational information in different implementations and do not indicate differences in their importance, structure, etc.

[0299] In the above embodiments, the term "when..." can be interpreted, depending on the context, as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". The above descriptions are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of this application should be included within the protection scope of this application.

[0300] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

Claims

1. A projection control method characterized by comprising: The method is applied to a first vehicle, and comprises: obtaining driving scene information of the first vehicle, the driving scene information comprising information of a target vehicle; enabling projection of a first projection pattern based on the driving scene information of the first vehicle, the first projection pattern being used to prompt a relative distance between the first vehicle and the target vehicle.

2. The method of claim 1, wherein, The driving scene information further comprises information of the first vehicle, The information of the target vehicle comprises position information of the target vehicle and / or attribute information of the target vehicle, wherein the position information of the target vehicle is used to indicate one or more of a lane where the target vehicle is located, a position of the target vehicle relative to the first vehicle, and a distance between the target vehicle and the first vehicle; The attribute of the target vehicle is used to indicate one or more of a driving direction of the target vehicle, a size of the target vehicle, a type of the target vehicle, a speed of the target vehicle, and an acceleration of the target vehicle, The information of the first vehicle comprises one or more of a position of the first vehicle, a driving direction of the first vehicle, a speed of the first vehicle, and an acceleration of the first vehicle.

3. The method according to claim 1 or 2, characterized in that, The enabling of the projection of the first projection pattern in front of the first vehicle based on the driving scene information of the first vehicle comprises: determining whether a distance-prompting trigger condition is met based on the driving scene information of the first vehicle; in a case where the distance-prompting trigger condition is met, enabling the projection of the first projection pattern in front of the first vehicle.

4. The method of claim 2, wherein, The distance-prompting trigger condition comprises one or more of the following conditions: condition 1, the position of the target vehicle meets a first position condition; condition 2, the attribute of the target vehicle meets a first attribute condition; condition 3, a predicted driving intention of the target vehicle meets a first intention condition; condition 4, a state of the first vehicle meets a first state condition.

5. The method of claim 4, wherein, The first position condition comprises one or more of the following conditions: condition 1a, the target vehicle is located in a lane adjacent to the first vehicle; condition 1b, the target vehicle is located in front of the first vehicle; condition 1c, a distance between the target vehicle and the first vehicle is less than or equal to a preset first distance threshold.

6. The method of claim 4, wherein, The first attribute condition comprises one or more of the following conditions: condition 2a, the target vehicle has a same driving direction as the first vehicle; condition 2b, the target vehicle is a first type of vehicle; condition 2c, a size of the target vehicle is greater than a preset first size threshold; condition 2d, speed data of the target vehicle meets a first speed condition.

7. The method of claim 6, wherein, The first type comprises at least one of a truck, a passenger car, a trailer, or a special vehicle.

8. The method of claim 1 or 2, wherein, The enabling of the projection of the first projection pattern in front of the first vehicle based on the driving scene information of the first vehicle comprises: obtaining perception information based on the driving scene information of the first vehicle and a first machine learning model, the perception information being used to determine whether the driving scene information of the first vehicle meets the distance-prompting trigger condition; determining whether the driving scene information of the first vehicle meets the distance-prompting trigger condition based on the perception information; project the first projection pattern in the case that the distance indication trigger condition is met.

9. The method of claim 1 or 2, wherein, The enabling of the projection of the first projection pattern in front of the first vehicle based on the driving scene information of the first vehicle comprises: obtaining, based on the driving scene information of the first vehicle and a first machine learning model, output result information indicating whether the driving scene information of the first vehicle meets a distance indication trigger condition; projecting the first projection pattern in the case that the distance indication trigger condition is met.

10. The method of claim 1 or 2, wherein, The enabling of the projection of the first projection pattern in front of the first vehicle based on the driving scene information of the first vehicle comprises: inputting the driving scene information of the first vehicle into a first machine learning model to obtain output result information indicating whether the projection of the first projection pattern in front of the first vehicle is enabled; projecting the first projection pattern in front of the first vehicle in response to the output result information indicating that the projection of the first projection pattern in front of the first vehicle is enabled.

11. The method according to any one of claims 1 to 10, characterized in that, The first projection pattern comprises one or more of a figure, a character or a symbol.

12. The method according to any one of claims 1 to 11, characterized in that, The projection area of the first projection pattern is located in front of the first vehicle, and the projection area is at least partially located in front of the target vehicle.

13. The method according to any one of claims 1 to 12, characterized in that, The first projection pattern comprises at least two display areas arranged in the direction of the vehicle head of the first vehicle, and each of the at least two display areas is used to represent a preset distance length.

14. The method of claim 13, wherein, The first projection pattern further comprises a display element in each of the display areas, and the display element in each of the display areas is used to indicate the distance between the display area and the first vehicle.

15. The method according to claim 13 or 14, characterized in that, The luminance of the at least two display areas gradually changes in a stepwise manner in the direction opposite to the direction of the vehicle head of the first vehicle.

16. The method according to any one of claims 1 to 12, characterized in that, The method further comprises: determining a target projection area in front of the target vehicle according to the distance between the first vehicle and the target vehicle; the projection area of the first projection pattern is located in the target projection area.

17. The method of claim 16, wherein, The method further comprises: updating the position of the target projection area according to the current distance between the first vehicle and the target vehicle.

18. The method of any one of claims 3-8, wherein, The method further comprises: ending the projection of the first projection pattern in the case that the distance indication trigger condition is no longer met.

19. The method according to any one of claims 1 to 18, characterized in that, The method further comprises: enabling the projection of a second projection pattern in front of the first vehicle based on the driving scene information of the first vehicle, the second projection pattern being used to indicate that the distance between the first vehicle and the target vehicle reaches an alert distance.

20. The method of claim 19, wherein, The method further comprises: determining, based on the driving scene information of the first vehicle, whether a distance indication warning condition is met; projecting the second projection pattern in front of the first vehicle in the case that the distance indication warning condition is met, the distance indication warning condition comprising that the distance between the first vehicle and the target vehicle is less than or equal to a second distance threshold.

21. The method of claim 19 or 20, wherein, The first projection pattern and the second projection pattern belong to the same layer of the same projection image, or the first projection pattern and the second projection pattern belong to different layers of the same projection image.

22. The method of any one of claims 1-21, wherein, The method further comprises: projecting a third projection pattern in front of the first vehicle, the third projection pattern being used to indicate a first driving intention of the first vehicle.

23. The method of claim 22, wherein, The method further comprises: ending the projection of the third projection pattern after the first driving intention is cancelled or the first driving intention is ended.

24. A projection control device, characterized by The projection control device comprises an acquisition unit and a processing unit, The acquisition unit is configured to acquire driving scene information of the first vehicle. The processing unit is configured to process the information. The projection control device is configured to implement the method of any one of claims 1-23.

25. A projection control device, characterized by The projection control device comprises a processor, a memory and a communication interface, The communication interface is configured to acquire information and / or output information. The memory is configured to provide a storage space for storing computer instructions, The processor is configured to invoke the computer instructions stored in the memory, so that the method of any one of claims 1-23 is executed.

26. A projection system, characterized by The projection system comprises a projection module and the projection control device of claim 24 or claim 25, The projection control device is configured to provide a projection image to the projection module, the projection image comprising a first projection pattern; The projection module is configured to project the projection image.

27. The projection system of claim 25, wherein, The projection module is arranged in a vehicle lamp.

28. A vehicle characterized by The vehicle comprises a perception device and the projection system of claim 26 or claim 27, The perception device is configured to acquire driving scene information of the vehicle and provide the driving scene information of the vehicle to the projection system.

29. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store computer instructions; When the instructions are executed by the processor, the method of any one of claims 1-23 is executed.

30. A computer program product, characterised in that, The computer program product comprises computer language codes or computer instructions; when the computer program product is executed by the processor, the method of any one of claims 1-23 is executed.

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