Vehicle indicator light projection method, vehicle, and electronic device

Abstract

The application discloses a vehicle indicator light projection method, a vehicle and an electronic device, which comprises the following steps: collecting vehicle state information and obstacle state information around the vehicle; generating a future planning track of the vehicle based on the vehicle state information, and predicting a future motion track of the obstacles based on the obstacle state information; calculating a current risk level of the vehicle based on the future planning track of the vehicle and the future motion track of the obstacles; and controlling a target indicator light to project light and shadow based on corresponding projection information based on the current risk level. Through the above method, the degree of danger can be intuitively conveyed, the risk level warning can be realized, the excessive or insufficient warning can be reduced, the safety of pedestrians and the trust degree of human-vehicle interaction can be improved, and the risk of collision accidents can be effectively reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method for projecting indicator lights for a vehicle, a vehicle, and electronic equipment. Background Technology

[0002] Traditional vehicle lighting information (such as turn signals, brake lights, and the intelligent driving indicator light) is only used to indicate the vehicle's current driving status, such as deceleration, turning, or being in intelligent driving mode. The information content of these lights is simple and fixed. Pedestrians and vehicles behind can only passively receive information by observing whether the vehicle's indicator lights are on or off. They cannot distinguish the level of risk between the vehicle and surrounding pedestrians and vehicles, nor can they confirm whether the vehicle has noticed them.

[0003] Therefore, improving existing lighting systems to enable road users to more intuitively perceive different levels of risk is a direction that needs to be addressed. Summary of the Invention

[0004] The purpose of this application is to provide a method for projecting indicator lights for a vehicle, a vehicle, and electronic equipment that can effectively reduce the risk of collision accidents.

[0005] To achieve the above objectives: In a first aspect, a method for projecting indicator lights on a vehicle includes: collecting vehicle status information and obstacle status information around the vehicle; generating a future planned trajectory for the vehicle based on the vehicle status information, and predicting the future movement trajectory of the obstacles based on the obstacle status information; calculating the current risk level of the vehicle based on the future planned trajectory of the vehicle and the future movement trajectory of the obstacles; and controlling the target indicator light to project light and shadow based on the corresponding projection information based on the current risk level.

[0006] In one embodiment, the current risk level of the vehicle is calculated based on the future planned trajectory of the vehicle and the future movement trajectory of the obstacle, including: calculating the collision time between the vehicle and the obstacle based on the future planned trajectory of the vehicle and the future movement trajectory of the obstacle; and determining the corresponding risk level based on the collision time.

[0007] In one embodiment, determining the corresponding risk level based on the collision time includes: if the collision time is greater than a first time threshold, then determining the corresponding risk level as low risk; if the collision time is greater than or equal to a second time threshold and less than or equal to the first time threshold, then determining the corresponding risk level as medium risk; if the collision time is less than the second time threshold, then determining the corresponding risk level as high risk; wherein the second time threshold is less than the first time threshold.

[0008] In one embodiment, the projection information includes light effect color, light effect dynamic mode, and projection position; the obstacle includes pedestrians; based on the current risk level, the target indicator light is controlled to project light and shadow based on the corresponding projection information, including: if the current risk level is low risk, the target indicator light is controlled to project light of the first light effect color at the first projection position in the first light effect dynamic mode, wherein projecting light of the first light effect color at the first projection position in the first light effect dynamic mode includes projecting a blue light trail in front of the vehicle; if the current risk level is medium risk, the target indicator light is controlled to project light of the second light effect color at the second projection position in the second light effect dynamic mode, wherein projecting light of the second light effect color at the second projection position in the second light effect dynamic mode includes projecting a blue light trail with a yellow breathing light spot under the feet of the pedestrian; if the current risk level is high risk, the target indicator light is controlled to project light of the third light effect color at the third projection position in the third light effect dynamic mode, wherein projecting light of the third light effect color at the third projection position in the third light effect dynamic mode includes projecting a red-blue gradient flashing light effect in front of the vehicle braking trajectory and in the area around the pedestrian.

[0009] In one embodiment, the method further includes: continuously monitoring vehicle status information and obstacle status information, recalculating the risk level, and adjusting the projection information according to the updated risk level.

[0010] In one embodiment, the future movement trajectory of the obstacle includes the predicted movement trajectory of the pedestrian; collecting obstacle status information around the vehicle, including: collecting the pedestrian's current position, walking speed, walking direction and time parameters; using the pedestrian's current position, walking speed, walking direction and time parameters to generate the pedestrian's predicted movement trajectory.

[0011] In one embodiment, calculating the current risk level of the vehicle includes: when there are multiple obstacles, determining the highest risk level among the risk levels corresponding to the multiple obstacles as the final current risk level.

[0012] Secondly, embodiments of this application provide a vehicle indicator light projection device, comprising: a data acquisition module for acquiring vehicle status information and obstacle status information around the vehicle; a processing module for generating a future planned trajectory of the vehicle based on the vehicle status information and predicting the future movement trajectory of the obstacles based on the obstacle status information; a calculation module for calculating the current risk level of the vehicle based on the future planned trajectory of the vehicle and the future movement trajectory of the obstacles; and a control module for controlling the target indicator light to project light and shadow based on the corresponding projection information according to the current risk level.

[0013] Thirdly, embodiments of this application provide a vehicle including the aforementioned vehicle indicator projection device.

[0014] Fourthly, embodiments of this application provide an electronic device, including: a processor and a memory for storing executable instructions; wherein the processor is configured to execute the instructions, enabling the vehicle to implement the vehicle indicator projection method as described in the first aspect.

[0015] This application provides a method for projecting indicator lights onto a vehicle, a vehicle, and electronic equipment. The method includes: collecting vehicle status information and obstacle status information around the vehicle; generating a future planned trajectory for the vehicle based on the vehicle status information, and predicting the future movement trajectory of obstacles based on the obstacle status information; calculating the vehicle's current risk level based on the vehicle's future planned trajectory and the obstacle's future movement trajectory; and controlling the target indicator light to project light and shadow based on the corresponding projection information according to the current risk level. This application, by assessing risk based on the future trajectories of both parties rather than the current instantaneous distance, can predict potential collisions in advance, reducing false alarms or missed alarms. Furthermore, by projecting the risk level through light and shadow, traffic participants can clearly understand the vehicle's intentions and the degree of danger, enhancing pedestrian safety and trust in human-vehicle interaction, and effectively reducing the risk of collision accidents. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the vehicle indicator light projection method provided in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram illustrating the specific process of the vehicle indicator light projection method provided in an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the structure of a vehicle indicator projection device provided in an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0020] Processor 410, memory 411, network interface 412, bus system 413. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0022] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0023] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0024] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0025] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0026] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0027] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0028] It should be noted that currently, vehicle exterior lights (such as the intelligent driving indicator light) are mainly used to indicate that the vehicle is in intelligent driving mode; they are fixed, one-way signals. In existing technology, the indicator light can only convey "this vehicle is in intelligent driving mode" with a constant blue light. It cannot differentiate its display based on dynamic risk changes between the vehicle and surrounding pedestrians or other vehicles, nor can it convey specific intentions to pedestrians such as "the vehicle has detected you," "please cross safely," or "there is a collision risk." Pedestrians and other drivers can only passively receive information through the illumination of indicator lights in fixed positions on the vehicle, making it difficult to judge the future trajectory of their own vehicle and the current level of risk. This can cause anxiety for pedestrians and easily lead to traffic accidents due to insufficient warnings or a failure to differentiate between levels of urgency.

[0029] To address the aforementioned issues, this application proposes a method for projecting vehicle indicator lights. This method allows vehicles to utilize their intelligent driving perception system to collect real-time data on their own vehicle status and the status of surrounding obstacles. Through trajectory prediction and risk grading logic, the method automatically calculates the current collision risk level and controls the projection indicator lights installed on the vehicle to project light and shadow onto the road surface and / or the surrounding area of ​​pedestrians with light effects, colors, dynamic modes, and projection positions corresponding to the risk level. This intuitively conveys the vehicle's driving intention and degree of danger to pedestrians and other drivers, enhancing the safety and trustworthiness of human-vehicle interaction. This method can be widely applied to proactive warning scenarios for passenger cars, commercial vehicles, and other models with intelligent driving perception capabilities.

[0030] like Figure 1 As shown, this application embodiment proposes a method for projecting vehicle indicator lights. This method can be implemented using software and / or hardware, such as an intelligent driving perception system. In this embodiment, the method is applied to a vehicle integrated with an intelligent driving perception system. This vehicle can collect vehicle status information and obstacle status information around the vehicle, and can perform calculations and processing on the collected information. This application embodiment provides a method for projecting vehicle indicator lights, including the following steps: Step S101: Collect vehicle status information and obstacle status information around the vehicle.

[0031] Optionally, vehicle status information refers to various parameters that can reflect the current operating status and future driving intentions of the vehicle, including but not limited to: motion parameters, such as the vehicle's current speed, acceleration, yaw rate, and steering wheel angle; position and attitude, such as the vehicle's current position, heading angle, and pitch angle; driving behavior parameters, such as the target speed set by the driver, steering state, brake pedal opening, and accelerator pedal opening; and planned trajectory information, such as the future driving trajectory planned by the vehicle's intelligent driving system.

[0032] Optionally, obstacle status information refers to the attributes and motion state of dynamic or static objects around the vehicle that may affect driving safety. Obstacles include, but are not limited to, at least one of the following: pedestrians, other vehicles, motorcycles, automobiles, roadblocks, cones, construction signs, temporarily parked vehicles, etc. For each obstacle, at least one of the following is collected: location information, type classification, motion state, size and outline.

[0033] It should be noted that the surrounding area can be understood as the area covered by the vehicle's sensors.

[0034] Optionally, the defined surrounding range can also be adaptively adjusted according to the vehicle's speed. For example, when the vehicle speed is high, the system can dynamically expand the defined surrounding range, such as expanding it to 200 meters in circumference, to allow more reaction time; when the speed is low or in a parking scenario, the defined surrounding range can be dynamically reduced, such as reducing the range to 20-50 meters, focusing on nearby interactive objects.

[0035] In some implementations, the future trajectory of the obstacle includes the predicted trajectory of the pedestrian; Collect information on the status of obstacles around the vehicle, including: Collect pedestrian's current location, walking speed, walking direction, and time parameters; Based on the pedestrian's current location, walking speed, walking direction, and time parameters, a predicted movement trajectory of the pedestrian is generated.

[0036] Optionally, the predicted trajectory of a pedestrian can refer to a sequence of locations that the pedestrian will traverse over a future period of time, estimated by a kinematic model based on the pedestrian's state information collected at the current moment. The pedestrian's state information may include the pedestrian's current position, walking speed, walking direction, and time parameters.

[0037] It should be noted that the predicted trajectory of a pedestrian does not mean that the pedestrian will strictly follow the path (pedestrians have uncontrollable characteristics such as changing direction and accelerating / decelerating at will), but rather it is the most reasonable inference based on the current instantaneous state. In practical systems, an uncertainty region that diffuses over time (such as a Gaussian distribution) is usually added to the prediction result to characterize the decay of prediction reliability.

[0038] In this embodiment, a predicted motion trajectory is generated by specifically collecting pedestrian position, speed, direction and time parameters. This can predict the future position and direction of pedestrians in real time with low computational load, providing a data basis for accurate calculation of collision time (TTC) and thus supporting accurate determination of risk level. At the same time, only by relying on this predicted trajectory can subsequent medium and high risk light and shadow be accurately projected onto the pedestrian's feet or surrounding area, realizing effective visual interaction and early warning.

[0039] Step S102: Generate the vehicle's future planned trajectory based on vehicle status information, and predict the obstacle's future movement trajectory based on obstacle status information.

[0040] Optionally, the vehicle's future planned trajectory refers to the sequence of spatial paths the vehicle is expected to travel within a future time window. The vehicle's future planned trajectory typically consists of a series of discrete waypoints or a continuous curve, with each waypoint containing information such as location coordinates, expected passage timestamp, and expected speed. Understandably, the vehicle's future planned trajectory reflects the vehicle's current control intentions and expected driving behavior.

[0041] Optionally, the future trajectory of an obstacle refers to the estimation of the position sequence of an obstacle (such as a pedestrian, other vehicle, or non-motorized vehicle) around the vehicle over a future period of time.

[0042] Step S103: Calculate the vehicle's current risk level based on the vehicle's future planned trajectory and the obstacle's future movement trajectory.

[0043] In some implementations, step S103, which is to calculate the current risk level of the vehicle based on the future planned trajectory of the vehicle and the future movement trajectory of the obstacle, may include: calculating the collision time between the vehicle and the obstacle based on the future planned trajectory of the vehicle and the future movement trajectory of the obstacle; and determining the corresponding risk level based on the collision time.

[0044] Optionally, based on the future planned trajectory of the vehicle and the future motion trajectory of the obstacle, the collision time between the vehicle and the obstacle is calculated, including: performing an intersection analysis on the future planned trajectory of the vehicle and the future motion trajectory of the obstacle to obtain the intersection analysis result; and calculating the collision time between the vehicle and the obstacle based on the intersection analysis result.

[0045] Optionally, the risk level can include low risk, medium risk, and high risk. Of course, the risk level can also be divided into more levels according to needs, which will not be elaborated here.

[0046] In this embodiment, by introducing the intersection analysis of the vehicle's future planned trajectory and the obstacle's future movement trajectory, the collision time is calculated, and then the risk is classified into low, medium, and high levels. Compared with traditional methods that only use instantaneous distance and / or relative speed, the trajectory intersection-based analysis can more accurately predict future spatiotemporal conflicts and reduce false alarms caused by brief proximity or sensor noise. Simultaneously, discretizing the continuous time quantity into finite risk levels provides a clear and stable decision-making basis for subsequent graded light and shadow projection, enhancing the rationality and reliability of the early warning. Furthermore, the risk levels can be flexibly expanded according to needs, exhibiting good adaptability.

[0047] Step S104: Based on the current risk level, control the target indicator light to project light and shadow based on the corresponding projection information.

[0048] Optionally, step S104 may further include: determining the projection information corresponding to the current risk level based on the current risk level, and controlling the target indicator light to project light and shadow based on the corresponding projection information.

[0049] Optionally, the projection information may refer to a set of parameters used to control the target indicator light to output a specific light and shadow effect, including but not limited to at least one of the following: light effect color, light effect dynamic mode, and projection position.

[0050] Optionally, the light effect color can refer to the main color tone of the projected light and shadow, such as blue, yellow, red, or a red-blue gradient light. Optionally, the light effect dynamic mode can refer to the time-varying pattern of the light and shadow, such as static constant light, breathing gradient (i.e., periodic change in brightness), flashing (high-frequency on / off), dynamic scanning, or alternating red and blue, etc.; the projection position can refer to the specific spatial area where the light and shadow are projected onto the road surface or around the obstacle, such as the ground directly in front of the vehicle, the area under the pedestrian's feet, along the vehicle's braking trajectory, the circular area around the pedestrian, etc.

[0051] Optionally, determining the projection information corresponding to the current risk level based on the current risk level may include: determining the projection information corresponding to the current risk level based on a pre-established mapping table from risk level to projection information.

[0052] In some implementation methods, the corresponding risk level is determined based on the collision time, including: If the collision time is greater than the first time threshold, the corresponding risk level is determined to be low risk. If the collision time is greater than or equal to the second time threshold and less than or equal to the first time threshold, the corresponding risk level is determined to be medium risk. If the collision time is less than the second time threshold, the corresponding risk level is determined to be high risk. The second time threshold is less than the first time threshold.

[0053] Optionally, the first time threshold can be set to 5 seconds, and the second time threshold can be set to 2 seconds. Of course, the first and second time thresholds can also be dynamically adjusted according to different vehicle models and road conditions, without any limitations.

[0054] In this embodiment, by setting a first time threshold and a second time threshold, the collision time is quantified into three risk levels: low, medium, and high. This allows for a clear and differentiated hierarchical assessment of the dynamic risk between the vehicle and the obstacle. Subsequent light and shadow projection can then match differentiated lighting effects according to different risk levels, thereby reducing the problems of over-warning or under-warning. This makes the level of urgency immediately clear to pedestrians and other road users, improving the rationality and effectiveness of the warning. Furthermore, the thresholds can be dynamically adjusted to adapt to different vehicle types and road conditions, enhancing the system's flexibility and versatility.

[0055] In some implementations, the projection information includes the color of the light effect, the dynamic mode of the light effect, and the projection position; obstacles include pedestrians; Based on the current risk level, the target indicator light will project light and shadow based on the corresponding projection information, including: If the current risk level is low risk, the control target indicator light projects light of the first light effect color at the first projection position in the first light effect dynamic mode, wherein projecting light of the first light effect color at the first projection position in the first light effect dynamic mode includes projecting a blue light trail in front of the vehicle. If the current risk level is medium risk, the control target indicator light projects light of the second light effect color at the second projection position in the second light effect dynamic mode. The second light effect dynamic mode projects light of the second light effect color at the second projection position, which includes projecting a blue light track with a yellow breathing light spot under the feet of pedestrians. If the current risk level is high risk, the control target indicator light will project light of the third light effect color at the third projection position in the third light effect dynamic mode. The third light effect dynamic mode projecting light of the third light effect color at the third projection position includes projecting red and blue gradient flashing light effects in front of the vehicle braking trajectory and in the area around pedestrians.

[0056] In this embodiment, a clear and progressive visual warning system is formed by matching different light effect colors, dynamic modes, and projection positions according to low, medium, and high risk levels. The technical effects are as follows: at low risk, a static blue light track indicates "the vehicle is in intelligent driving mode and is safe"; at medium risk, a yellow breathing light spot is superimposed under the pedestrian's feet, precisely reminding them "We have noticed you, please be careful approaching"; at high risk, red and blue flashing light effects are projected onto the braking trajectory and around the pedestrian, forming a strong visual warning zone and clearly indicating danger avoidance. Through this graded, directional, and dynamic projection method, pedestrians and other drivers can instantly understand the risk level and the vehicle's intentions, effectively alleviating psychological anxiety caused by unclear information and improving the safety and trust level of human-vehicle interaction.

[0057] In the above implementation, vehicle status information and obstacle status information around the vehicle are collected; the vehicle's future planned trajectory is generated based on the vehicle status information, and the obstacle's future movement trajectory is predicted based on the obstacle status information; the vehicle's current risk level is calculated based on the vehicle's future planned trajectory and the obstacle's future movement trajectory; based on the current risk level, the target indicator light is controlled to project light and shadow based on the corresponding projection information. Thus, by judging risk based on the future trajectories of both parties rather than the current instantaneous distance, potential collisions can be predicted in advance, reducing false alarms or missed alarms; and by projecting the risk level through light and shadow, traffic participants can clearly understand the vehicle's intentions and the degree of danger, improving pedestrians' sense of security and trust in human-vehicle interaction, effectively reducing the risk of collision accidents.

[0058] In some implementations, the method further includes: continuously monitoring vehicle status information and obstacle status information, recalculating the risk level, and adjusting the projection information according to the updated risk level.

[0059] Optionally, once the risk is eliminated, the risk level can be gradually reduced and the target indicator light can be restored to its default lighting effect.

[0060] In this embodiment, by continuously monitoring the status of vehicles and obstacles and dynamically updating the risk level and projection information, the technical effect is that it can respond to changes in the traffic environment in real time (such as pedestrians suddenly accelerating, vehicles changing lanes, etc.), avoiding the disconnect between the light and shadow effects and the actual situation; when the risk is eliminated, by gradually downgrading and restoring the default light effect, it can avoid misunderstanding caused by the sudden interruption of the warning, achieve a smooth transition, and thus improve the naturalness and credibility of human-vehicle interaction.

[0061] In some implementations, calculating the vehicle's current risk level includes: When multiple obstacles exist, the highest risk level among the risk levels corresponding to each of the multiple obstacles is determined as the final current risk level.

[0062] In this embodiment, by taking the highest value among all obstacle risk levels as the final risk level, it can ensure that the system prioritizes the response to the most urgent dangerous situations, reduce insufficient warnings caused by averaging multiple targets or omitting high-risk individuals, and maximize the safety of vehicles and pedestrians.

[0063] Based on the same methodological concept as the foregoing embodiments, the foregoing embodiments will be described in detail below through a specific example.

[0064] This application provides a specific embodiment of a method for projecting hazard level warnings using a smart driving blue light. Please refer to [link / reference]. Figure 2 ,like Figure 2 As shown, the system executes the above-mentioned vehicle indicator light projection process: Data acquisition and perception: Collect vehicle status such as vehicle speed, steering wheel angle, planned trajectory, and the location, type, and motion status of surrounding obstacles.

[0065] Trajectory prediction and intersection analysis: Using AI algorithms to generate the future planned trajectory of vehicles, predict the future trajectory of pedestrians, and model the game process between vehicles and pedestrians.

[0066] Risk level assessment: The risk is classified into low risk, medium risk, and high risk based on the collision time.

[0067] Projection actuator: Match different lighting effects and projection positions according to different risk levels.

[0068] Risk changes: Dynamically monitor the trajectory changes of the vehicle and obstacles, calculate the collision time, and reassess the risk level.

[0069] Risk change assessment, such as risk escalation / downgrade. Light effect restoration: Gradually reduce the risk level and restore the original light effect.

[0070] In some specific implementations, the position of the vehicle can be defined as:

[0071] Taking the obstacle as a pedestrian as an example, the pedestrian's future position function is as follows:

[0072] The formula for determining the intersection of trajectories is as follows: Distance calculation between the two:

[0073] Is there a risk of collision?

[0074] The collision time TTC is calculated as follows:

[0075] The risk level definition and projection operation are as follows:

[0076] For multi-objectives, the final risk is equal to the highest risk among all pedestrians.

[0077] Through the above embodiments, a dynamic road surface projection mechanism is adopted. Previously, the small blue light only existed in a fixed position on the vehicle body, but this invention projects it onto the road surface. Different light effects are projected according to the level of danger, making it easier for pedestrians and other vehicles to understand and alleviating their psychological anxiety. Furthermore, it can predict the trajectories of the vehicle and pedestrians / other vehicles, calculate intersection and collision time, and classify risks into high, medium, and low risk levels for tiered handling. This avoids the problems of excessive or insufficient warnings. Moreover, it can continuously monitor the status of pedestrians / other vehicles; once the pedestrian has crossed, the light effect projection can return to the default state, enabling timely response and avoiding misunderstandings.

[0078] Based on the same inventive concept as the foregoing embodiments, please refer to Figure 3 This invention also provides a vehicle indicator light projection device, comprising: The acquisition module 31 is used to acquire vehicle status information and obstacle status information around the vehicle; Processing module 32 is used to generate the vehicle's future planned trajectory from vehicle status information, and to predict the future movement trajectory of obstacles based on obstacle status information; The calculation module 33 is used to calculate the current risk level of the vehicle based on the vehicle's future planned trajectory and the future movement trajectory of the obstacle; The control module 34 is used to control the target indicator light to project light and shadow based on the corresponding projection information according to the current risk level.

[0079] In some implementations, the calculation module 33 is further configured to: Based on the vehicle's future planned trajectory and the obstacle's future movement trajectory, calculate the collision time between the vehicle and the obstacle; The corresponding risk level is determined based on the collision time.

[0080] In some implementations, the calculation module 33 is further configured to: If the collision time is greater than the first time threshold, the corresponding risk level is determined to be low risk. If the collision time is greater than or equal to the second time threshold and less than or equal to the first time threshold, the corresponding risk level is determined to be medium risk. If the collision time is less than the second time threshold, the corresponding risk level is determined to be high risk. The second time threshold is less than the first time threshold.

[0081] In some implementations, the projection information includes the color of the light effect, the dynamic mode of the light effect, and the projection position; obstacles include pedestrians; Control module 34 is also used for: If the current risk level is low risk, control the target indicator light to project light of the first light effect color at the first projection position in the first light effect dynamic mode, wherein projecting light of the first light effect color at the first projection position in the first light effect dynamic mode includes projecting a blue light trail in front of the vehicle. If the current risk level is medium risk, the control target indicator light projects light of the second light effect color at the second projection position in the second light effect dynamic mode. The second light effect dynamic mode projects light of the second light effect color at the second projection position, which includes projecting a blue light track with a yellow breathing light spot under the feet of pedestrians. If the current risk level is high risk, the control target indicator light will project light of the third light effect color at the third projection position in the third light effect dynamic mode. The third light effect dynamic mode projecting light of the third light effect color at the third projection position includes projecting red and blue gradient flashing light effects in front of the vehicle braking trajectory and in the area around pedestrians.

[0082] In some embodiments, the device further includes: The continuous monitoring module is used to continuously monitor vehicle status information and obstacle status information, and recalculate the risk level; The adjustment module is used to adjust the projection information according to the updated risk level.

[0083] In some implementations, the calculation module 33 is further configured to: When multiple obstacles exist, the highest risk level among the risk levels corresponding to each obstacle is determined as the final current risk level.

[0084] It should be noted that the vehicle indicator light projection device provided in the above embodiments is only illustrated by the division of the above-described program modules. In practical applications, the above steps can be assigned to different program modules as needed. That is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. Furthermore, the vehicle indicator light projection device and the vehicle indicator light projection method embodiments provided in the above embodiments belong to the same concept. For details on their specific implementation process and technical effects, please refer to the method embodiments, which will not be repeated here.

[0085] Based on the same inventive concept as the foregoing embodiments, this embodiment of the invention also provides a vehicle that includes the aforementioned vehicle indicator projection device.

[0086] Based on the same inventive concept as the foregoing embodiments, this invention provides an electronic device, such as... Figure 4 As shown, the electronic device includes: a processor 410 and a memory 411 storing a computer program; wherein, Figure 4 The processor 410 shown in the diagram does not indicate that there is only one processor 410, but only indicates the positional relationship of the processor 410 relative to other devices. In practical applications, there can be one or more processors 410; similarly, Figure 4 The memory 411 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 411 relative to other devices. In practical applications, there can be one or more memories 411. When the processor 410 runs the computer program, the above-described method for projecting vehicle indicator lights is implemented.

[0087] The electronic device may also include at least one network interface 412. The various components of the electronic device are coupled together via a bus system 413. It is understood that the bus system 413 is used to implement communication between these components. In addition to a data bus, the bus system 413 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 4 The general designated all buses as Bus System 413.

[0088] The memory 411 can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 411 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0089] The memory 411 in this embodiment of the invention is used to store various types of data to support the operation of the electronic device. Examples of this data include: any computer programs used to operate on the electronic device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0090] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a machine-readable storage medium storing a computer program. The machine-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the machine-readable storage medium is executed by a processor, it implements a method for projecting vehicle indicator lights applied to the aforementioned vehicle. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figures 1-2 The description of the illustrated embodiments will not be repeated here.

[0091] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0093] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for projecting indicator lights on a vehicle, characterized in that, include: Collect vehicle status information and obstacle status information around the vehicle; The vehicle's future planned trajectory is generated based on the vehicle's state information, and the obstacle's future movement trajectory is predicted based on the obstacle's state information. Based on the vehicle's future planned trajectory and the obstacle's future movement trajectory, calculate the vehicle's current risk level; Based on the current risk level, the control target indicator light projects light and shadow based on the corresponding projection information.

2. The method according to claim 1, characterized in that, The calculation of the vehicle's current risk level based on the vehicle's future planned trajectory and the obstacle's future movement trajectory includes: Based on the vehicle's future planned trajectory and the obstacle's future movement trajectory, calculate the collision time between the vehicle and the obstacle; The corresponding risk level is determined based on the collision time.

3. The method according to claim 2, characterized in that, The step of determining the corresponding risk level based on the collision time includes: If the collision time is greater than the first time threshold, the corresponding risk level is determined to be low risk. If the collision time is greater than or equal to the second time threshold and less than or equal to the first time threshold, then the corresponding risk level is determined to be medium risk. If the collision time is less than the second time threshold, the corresponding risk level is determined to be high risk; Wherein, the second time threshold is less than the first time threshold.

4. The method according to claim 3, characterized in that, The projection information includes light effect color, light effect dynamic mode, and projection position; the obstacle includes pedestrians; The process of controlling the target indicator light to project light and shadow based on the corresponding projection information, based on the current risk level, includes: If the current risk level is low risk, the control target indicator light projects light of the first light effect color at the first projection position in the first light effect dynamic mode, wherein projecting light of the first light effect color at the first projection position in the first light effect dynamic mode includes projecting a blue light trail in front of the vehicle. If the current risk level is medium risk, the control target indicator light projects light of the second light effect color at the second projection position in the second light effect dynamic mode, wherein the projection of light of the second light effect color at the second projection position in the second light effect dynamic mode includes projecting a blue light track with a yellow breathing light spot under the feet of the pedestrian. If the current risk level is high risk, the control target indicator light projects light of the third light effect color at the third projection position in the third light effect dynamic mode. The third light effect dynamic mode projects light of the third light effect color at the third projection position, which includes projecting red and blue gradient flashing light effects in front of the vehicle braking trajectory and in the area around pedestrians.

5. The method according to claim 1, characterized in that, The method further includes: Continuously monitor the vehicle status information and the obstacle status information, and recalculate the risk level; The projection information is adjusted according to the updated risk level.

6. The method according to claim 1, characterized in that, The future trajectory of the obstacle includes the predicted trajectory of the pedestrian; Collect information on the status of obstacles around the vehicle, including: Collect pedestrian's current location, walking speed, walking direction, and time parameters; Based on the pedestrian's current location, walking speed, walking direction, and time parameters, a predicted movement trajectory of the pedestrian is generated.

7. The method according to claim 1, characterized in that, The calculation of the vehicle's current risk level includes: When multiple obstacles exist, the highest risk level among the risk levels corresponding to each of the multiple obstacles is determined as the final current risk level.

8. A vehicle indicator light projection device, characterized in that, include: The data acquisition module is used to collect vehicle status information and obstacle status information around the vehicle. The processing module is used to generate the future planned trajectory of the vehicle based on the vehicle status information, and to predict the future movement trajectory of the obstacle based on the obstacle status information. The calculation module is used to calculate the current risk level of the vehicle based on the vehicle's future planned trajectory and the obstacle's future movement trajectory. The control module is used to control the target indicator lights to project light and shadow based on the corresponding projection information according to the current risk level.

9. A vehicle, characterized in that, Includes the indicator light projection device for the vehicle as described in claim 8.

10. An electronic device, characterized in that, include: A processor and a memory for storing executable instructions; wherein the processor is configured to execute the instructions to implement the indicator light projection method for a vehicle as described in any one of claims 1-7.

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