Calibration method, system, and vehicle for vehicle projection devices

Abstract

The present invention provides a calibration method, system, and vehicle for a vehicle projection device. The calibration method for a vehicle projection device includes the steps of: determining the actual projection ground information of the projection device; determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information; and adjusting the projection device based on the reference information.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology (not limited thereto), and particularly to a calibration method, system, and vehicle for a vehicle projection device.

Background Art

[0002] A vehicle projection device is attached to the vehicle body of a vehicle, and before shipment, its position and the calibration of the projection image are performed.

Summary of the Invention

[0003] The summary of the subject matter described in detail in this specification is shown below. This summary is not intended to limit the scope of the claims.

[0004] The present invention provides an improved calibration method, system, vehicle, and storage medium for a vehicle projection device.

[0005] The present invention provides a calibration method for a vehicle projection device, the method including the steps of determining the actual projection ground information of the projection device, determining reference information for the actual projection ground of the projection device based on the actual projection ground information, and adjusting the projection device based on the reference information.

[0006] In one embodiment, the step of determining the actual projection ground information of the projection device includes the steps of controlling the projection device to project a calibration pattern on the actual projection ground, determining whether distortion has occurred in the calibration pattern, determining whether the amount of distortion of the calibration pattern is continuous when it is determined that distortion has occurred in the calibration pattern, determining that the actual projection ground is an inclined plane when the amount of distortion of the calibration pattern is continuous, and determining that there are obstacles on the actual projection ground when the amount of distortion of the calibration pattern is not continuous, wherein the calibration pattern includes a plurality of black masses and a plurality of white masses arranged at intervals in the longitudinal and latitudinal directions, respectively.

[0007] In one embodiment, after determining that the actual projection ground is an inclined surface, the step of determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information includes the steps of obtaining the vehicle inclination angle of the vehicle with respect to the inclined surface and the device state angle of the projection device with respect to the vehicle; determining the device inclination angle of the projection device relative to the inclined surface based on the vehicle inclination angle and the device state angle; and determining the maximum value of the device inclination angles as the inclination angle of the projection device relative to the inclined surface.

[0008] In one embodiment, after determining that the actual projection ground is an inclined surface, the step of determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information includes: controlling the projection device to project the calibration pattern onto an inclined surface having a plurality of preset different inclination angles and obtaining a plurality of calibration images corresponding to each inclination angle; obtaining a projection image after distortion has occurred; and comparing the projection image with the plurality of different calibration images and determining the inclination angle corresponding to one of the plurality of different calibration images as the inclination angle of the projection device relative to the inclined surface.

[0009] In one embodiment, the vehicle includes a rotating platform, the projection device is mounted on the rotating platform, and the step of adjusting the projection device based on the reference information includes the step of controlling the rotating platform to drive the projection device to adjust the inclination angle of the projection device with respect to the inclined surface by rotating the projection device in the direction of the inclined surface by an inclination angle of the projection device with respect to the inclined surface.

[0010] In one embodiment, the rotation direction of the rotating platform coincides with the inclination direction of the inclined surface relative to the vehicle.

[0011] In one embodiment, the rotation angle of the rotating platform coincides with the inclination angle of the inclined surface relative to the vehicle.

[0012] In one embodiment, after determining that an obstacle exists on the actual projection ground, the step of determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information includes determining the boundary line of the obstacle within the projection area and marking the boundary line.

[0013] In one embodiment, the projection device includes display components, and the step of adjusting the projection device based on the reference information includes determining some of the display components to be projected into the area of ​​the obstacle based on the marked boundary line of the obstacle, and controlling some of the determined display components to be turned off so as not to display any projected images located within the area of ​​the obstacle.

[0014] In one embodiment, the projection device includes an optical assembly, and the step of adjusting the projection device based on the reference information includes the step of determining the maximum size of the projected image of the projection device based on the marked boundary line of the obstacle, and the step of controlling the optical assembly to adjust the projected image of the projection device to the maximum size such that the projection area does not overlap with the area of ​​the obstacle, wherein the edges of the maximum size projected image do not extend beyond the boundary line.

[0015] The present invention further provides a computer-readable storage medium in which a program is stored, and when the program is executed by a processor, the calibration method for a vehicle projection device described in any one of the embodiments described above is performed.

[0016] The present invention further provides a calibration system for a vehicle projection device, comprising one or more processors configured to perform the calibration method for a vehicle projection device described in any one of the embodiments described above.

[0017] The present invention further provides a vehicle that includes a calibration system for a vehicle projection device as described in the above-described embodiment.

[0018] The calibration method, system, vehicle, and storage medium for a vehicle projection device according to embodiments of the present invention have the following effects. The calibration method for a vehicle projection device first determines the actual projection ground information of the projection device, then determines reference information for the projection device relative to the actual projection ground based on the actual projection ground information, and then adaptively adjusts the projection device based on the specific reference information. As a result, even when the vehicle is parked on an uneven or inclined road surface outdoors, the projection device is adjusted according to the actual driving environment. Therefore, the occurrence of tilt and distortion of the image projected by the projection device can be avoided. Furthermore, since this method can be adaptively adjusted based on the actual driving environment, it can be applied to a wider variety of driving environments and has excellent adaptability.

[0019] Further advantages and features will become apparent upon reviewing the drawings and detailed descriptions. [Brief explanation of the drawing]

[0020] [Figure 1] This is a flowchart showing one embodiment of a calibration method for a vehicle projection device according to the present invention. [Figure 2] Figure 1 is a flowchart of step S1 in the calibration method for a vehicle projection device. [Figure 3] Figure 1 is a flowchart showing another embodiment of the calibration method for the vehicle projection device. [Figure 4] Figure 1 is a flowchart showing yet another embodiment of the calibration method for a vehicle projection device. [Figure 5] Figure 1 is a flowchart showing another embodiment of the calibration method for a vehicle projection device. [Figure 6] Figure 1 is a flowchart showing another embodiment of the calibration method for a vehicle projection device. [Figure 7] This is a block diagram of one embodiment of a calibration system for a vehicle projection device according to the present invention. [Modes for carrying out the invention]

[0021] Hereinafter, embodiments of the present invention will be described in detail. These examples are shown in the accompanying drawings. When the following description relates to the accompanying drawings, unless otherwise specified, the same numerals in different drawings represent the same or similar elements. The embodiments exemplified below do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present invention detailed in the appended claims.

[0022] The terms used in the present invention are for the purpose of describing specific embodiments and are not intended to limit the present invention. Unless otherwise defined, technical terms or scientific terms used in the present invention have the ordinary meanings understood by those skilled in the art. The terms "first", "second" and similar terms used in this specification and the claims do not indicate any order, quantity or importance, but are merely used to distinguish different components. Similarly, terms such as "one" or "a" do not indicate a limitation of quantity, but indicate that at least one exists. "Plural" or "several" means at least two. Terms such as "front part", "rear part", "lower part" and / or "upper part" are used for convenience of explanation unless otherwise specified and are not limited to a single position or a spatial direction. Terms such as "include" or "comprise" mean that the elements or articles described before it include the elements or articles enumerated after it and their equivalents, and do not exclude other elements or articles. Terms such as "connect" or "couple" are not limited to physical or mechanical connections, and shall include electrical connections whether direct or indirect.

[0023] As used in this specification and the appended claims, the singular forms "a kind", "the" and "said" are intended to include the plural forms unless the context clearly indicates otherwise. Also, the term "and / or" used in this specification should be understood to refer to any and all combinations of one or more of the associated listed items.

[0024] When the vehicle is parked on an uneven or inclined outdoor road surface, the projection device attached to the vehicle will also be inclined accordingly. As a result, the image projected by the vehicle projection device will have inclination and distortion. Therefore, the calibration method adopted by the conventional vehicle projection device is fixed, lacking adaptability and unable to cope with more diverse environments.

[0025] The present invention provides a calibration method for a vehicle projection device, including the steps of determining the actual projection ground information of the projection device, determining the reference information of the projection device with respect to the actual projection ground based on the actual projection ground information, and adjusting the projection device based on the reference information.

[0026] According to the embodiment of the present invention, for the calibration method of the vehicle projection device, first, the actual projection ground information of the projection device is determined. Subsequently, based on the actual projection ground information, the reference information of the projection device with respect to the actual projection ground is determined. Then, the projection device is adaptively adjusted based on the specific reference information. Thereby, even when the vehicle is parked on an uneven or inclined outdoor road surface, the projection device can be adjusted according to the actual driving environment. Therefore, the occurrence of inclination and distortion of the image projected by the projection device can be avoided. Furthermore, since this method can be adaptively adjusted based on the actual driving environment, it can be applied to more diverse driving environments and has excellent adaptability.

[0027] Hereinafter, the calibration method, system, vehicle, and storage medium of the vehicle projection device according to the present invention will be described in detail with reference to the accompanying drawings. Unless there is a contradiction, the features described in the following examples and embodiments can be combined with each other.

[0028] FIG. 1 is a flowchart showing an embodiment of the calibration method of the vehicle projection device according to the present invention. As shown in FIG. 1, the calibration method of the vehicle projection device includes steps S1 to S3.

[0029] In step S1, the actual projection ground information of the projection device is determined. In this embodiment, the actual projection ground information of the projection device can be obtained using the vehicle's camera. Alternatively, the actual projection ground information can be determined using the image projected by the projection device itself. The image projected by the projection device is displayed on the actual projection ground. For example, if the projection device is installed near the rear of the upper part of the vehicle body, the actual projection ground is the ground behind the vehicle. The actual projection ground information may include the type of the actual projection ground, for example, whether the ground is flat or not, or whether it is an inclined surface or not. Here, an inclined surface refers to the actual projection ground that is inclined with respect to the road surface directly beneath the vehicle, meaning that an angle exists between the inclined surface and the ground directly beneath the vehicle.

[0030] In step S2, reference information for the projection device relative to the actual projection ground is determined based on the actual projection ground information. Depending on the different actual projection ground information, the reference information for the projection device relative to the actual projection ground will be different. The reference information includes the inclination angle of the projection device relative to the inclined surface and the boundaries of obstacles within the projection area.

[0031] In step S3, the projection device is adjusted based on reference information. Depending on the different reference information, the parameters used to adjust the projection device will also differ. For example, this could involve adjusting the angle of the projection device, adjusting the components of the projection device, or adjusting the drive components that control the projection device, but the present invention is not limited to these.

[0032] The calibration method, system, vehicle, and storage medium for a vehicle projection device according to embodiments of the present invention have the following effects. The calibration method for a vehicle projection device first determines the actual projection ground information of the projection device, then determines reference information for the projection device relative to the actual projection ground based on the actual projection ground information, and then adaptively adjusts the projection device based on the specific reference information. As a result, even when the vehicle is parked on an uneven or inclined road surface outdoors, the projection device is adjusted according to the actual driving environment. Therefore, the occurrence of tilt and distortion of the image projected by the projection device can be avoided. Furthermore, since this method can be adaptively adjusted based on the actual driving environment, it can be applied to a wider variety of driving environments and has excellent adaptability.

[0033] Figure 2 is a flowchart of step S1 in the calibration method for the vehicle projection device shown in Figure 1. As shown in Figure 2, step S1 (the step of determining the actual projection ground information of the projection device) includes steps S11 to S15.

[0034] In step S11, the projection device is controlled to project the calibration pattern onto the actual projection surface. The calibration pattern may be, for example, a checkerboard pattern consisting of multiple black squares and multiple white squares arranged at intervals in the longitude and latitude directions. In this embodiment, the projection device may be a holographic grating component (diffraction grating component), and this component is used to record the spatial positional features of the calibration pattern within the component during the exposure process. By illuminating the component with a light source during the projection process, a virtual image of the original calibration pattern can be clearly observed. This virtual image includes virtual images of multiple black squares and virtual images of white squares arranged at intervals in the longitude and latitude directions.

[0035] In step S12, it is determined whether or not distortion has occurred in the calibration pattern. Under normal circumstances, i.e., when the projection device projects onto a flat surface, distortion is unlikely to occur in the outlines of the multiple white squares and black squares of the checker pattern. In contrast, if the projection device projects onto an uneven surface or a surface that is inclined relative to the vehicle, distortion may occur in the outlines of the multiple white squares and black squares of the checker pattern. Therefore, by determining whether or not distortion has occurred in the calibration pattern, it is possible to roughly determine whether the actual projection surface is flat or inclined relative to the vehicle.

[0036] In step S13, if it is determined that distortion has occurred in the calibration pattern, it is determined whether the amount of distortion in the calibration pattern is continuous. If it is determined that distortion has occurred in the calibration pattern, it indicates that the actual projected ground projected by the projection device is not flat or is inclined relative to the vehicle. Furthermore, by determining whether the amount of distortion in the calibration pattern is continuous, it is possible to more accurately determine whether the actual projected ground is flat or inclined relative to the vehicle. On the other hand, if it is determined that there is no distortion in the calibration pattern, it indicates that the actual projected ground projected by the projection device is flat and not inclined, and it may be projected according to the original parameters.

[0037] In step S14, if the amount of distortion in the calibration pattern is continuous, it is determined that the actual projection ground is an inclined surface. If the amount of distortion in the calibration pattern is continuous, for example, if it increases or decreases sequentially, it is determined that the actual projection ground is a flat surface, or more precisely, an unobstructed inclined surface.

[0038] In step S15, if the amount of distortion in the calibration pattern is not continuous, it is determined that there is an obstacle on the actual projection ground. If the amount of distortion in the calibration pattern is not continuous, for example, if it increases rapidly in a sequentially increasing process, or decreases rapidly in a sequentially decreasing process, it is determined that the actual projection ground is not flat, and more precisely, that there is an obstacle.

[0039] In the above proposed technology, the calibration pattern projected onto the actual projection surface by the projection device is used as a calibration image or reference image, allowing for accurate determination of the actual projection surface type. This method is highly accurate and provides a precise reference for subsequent adjustments.

[0040] Figure 3 is a flowchart showing another embodiment of the calibration method for the vehicle projection device shown in Figure 1. As shown in Figure 3, step S2 (a step of determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information) includes steps S211 to S213. Step S3 (a step of adjusting the projection device based on the reference information) includes step S311. Steps S211 to S213 are performed after step S14 and before step S311.

[0041] In step S211, the vehicle tilt angle with respect to the inclined surface and the device state angle of the projection device with respect to the vehicle are obtained. This step is performed after step S14, and the actual vehicle tilt angle with respect to the inclined surface is obtained using the vehicle's inertial measuring unit (IMU). The vehicle tilt angle may be an angle in the three axes of X, Y, and Z in the ground coordinate system. The device state angle of the projection device with respect to the vehicle may be the calibration angle of the projection device with respect to the vehicle performed before shipment, and this calibration angle may be an angle in the three axes of X, Y, and Z. The vehicle tilt angle may also be the angle between the ground directly beneath the vehicle and the actual projected ground. For example, if the angle of the ground directly beneath the vehicle with respect to the horizontal plane is 10 degrees, the actual projected ground is the ground behind the rear of the vehicle, and the angle of the actual projected ground with respect to the horizontal plane is 3 degrees, and the inclination direction of the actual projected ground and the ground directly beneath the vehicle are the same, then the vehicle tilt angle will be 7 degrees.

[0042] In step S212, the tilt angle of the projection device relative to the inclined surface is determined based on the vehicle tilt angle and the device state angle. Using the acquired vehicle tilt angle and device state angle, the actual tilt angle of the projection device relative to the inclined surface can be precisely obtained. This tilt angle may be an angle in the three axial directions of X, Y, and Z. The actual tilt angle of the projection device relative to the inclined surface may be determined as the difference between the vehicle tilt angle and the device state angle.

[0043] In step S213, the maximum value among the device tilt angles is determined as the tilt angle of the projection device with respect to the inclined surface. If the actual projection ground is determined to be an inclined surface, the amount of change in its inclination is continuous, meaning that the actual projection ground includes at least two planes with different tilt angles. In this case, at least two device tilt angles with respect to the inclined surface can be obtained based on at least two vehicle tilt angles and device state angles. Then, the maximum value among the device tilt angles is determined as the tilt angle of the projection device with respect to the inclined surface. This ensures the integrity of the image projected by the projection device, which will be adjusted later, or prevents tilting, thereby improving visibility.

[0044] Step S3 (a step of adjusting the projection device based on reference information) includes step S311. Step S311 is performed after step S213. Here, the vehicle includes a rotating platform, and the projection device is mounted on the rotating platform. The rotating platform moves the projection device horizontally and / or vertically (pitches).

[0045] In step S311, the rotating platform is controlled to rotate the projection device in the direction of the inclined surface by an angle equal to the inclination angle of the projection device relative to the inclined surface, thereby driving the projection device and adjusting the inclination angle of the projection device relative to the inclined surface. In this embodiment, the rotating platform is controlled and the projection device is driven based on the actually determined inclination angle of the projection device relative to the inclined surface, thereby adapting to the actual inclined surface. This ensures that the integrity of the image projected by the adjusted projection device is maintained, or tilting is prevented, and visibility is improved.

[0046] In this embodiment, the rotation direction of the rotating platform coincides with the inclination direction of the inclined surface relative to the ground directly beneath the vehicle. For example, if it is detected that the actual inclined surface is inclined downwards (rotating the inclined surface downwards would make it parallel to the ground directly beneath the vehicle), the rotating platform is controlled to move downwards (i.e., rotate in a direction that approaches the ground directly beneath the vehicle). In this embodiment, if the device state angle is the calibration angle of the projection device relative to the vehicle before shipment, the rotation angle of the rotating platform coincides with the inclination angle of the inclined surface relative to the ground directly beneath the vehicle. For example, if it is detected that the actual inclined surface is inclined 5 degrees relative to the ground directly beneath the vehicle, the rotation angle of the rotating platform is controlled to also be 5 degrees. In this embodiment, the rotation direction of the rotating platform coincides with the inclination direction of the inclined surface relative to the ground directly beneath the vehicle, and the rotation angle of the rotating platform coincides with the inclination angle of the inclined surface relative to the ground directly beneath the vehicle. For example, if it is detected that the actual inclined surface is inclined 5 degrees downwards, the rotation angle of the rotating platform is controlled to also be 5 degrees downwards.

[0047] According to the above technical proposal, if the actual projection surface is determined to be an inclined surface, the rotating platform, which is a hardware structure, is controlled based on the inclination angle of the projection device relative to the inclined surface, thereby driving the projection device to adapt to the actual inclined surface. This ensures that the integrity of the image projected by the adjusted projection device is maintained, or tilting is prevented, improving visibility.

[0048] Figure 4 is a flowchart showing yet another embodiment of the calibration method for the vehicle projection device shown in Figure 1. The embodiment shown in Figure 4 is similar to the embodiment shown in Figure 3, the main difference being that step S2 (a step of determining reference information for the projection device relative to the actual projection ground based on actual projection ground information) includes steps S221 to S223. Step S3 (a step of adjusting the projection device based on the reference information) includes step S311. Steps S211 to S213 are performed after step S14 and before step S311.

[0049] In step S221, the projection device is controlled to project a calibration pattern onto inclined surfaces having multiple pre-set different inclination angles, and multiple calibration images corresponding to each inclination angle are obtained. For example, in the database, the projection device is controlled to project a calibration pattern onto inclined surfaces having multiple pre-set different inclination angles such as 5 degrees, 10 degrees, and 15 degrees, and multiple different calibration images are obtained. Here, the calibration patterns projected by the projection device onto inclined surfaces having different inclination angles such as 5 degrees, 10 degrees, and 15 degrees are different.

[0050] In step S222, the projected image after distortion occurs is acquired. When the projection device projects the calibration pattern onto an inclined surface, distortion occurs in the calibration pattern. At this time, the projected image after distortion can be acquired.

[0051] In step S223, the projected image is compared with several different calibration images, and the tilt angle corresponding to one of the several different calibration images is determined as the tilt angle of the projection device with respect to the inclined surface. For example, after comparing the projected image with several different calibration images, if it is determined that the calibration image with a tilt of 5 degrees has the highest similarity to the actually acquired projected image, then the tilt angle of the projection device with respect to the inclined surface is determined to be 5 degrees. This allows the tilt angle of the inclined surface with respect to the projection device to be determined.

[0052] In the above proposed technology, the acquired projected image is compared with pre-stored calibration images at different angles, and one calibration image with the highest similarity to the acquired projected image is selected. This determines the tilt angle corresponding to that calibration image as the tilt angle of the projection device relative to the inclined surface. This method allows for a rough acquisition of the tilt angle of the projection device relative to the inclined surface, and the processing is simple. The embodiment shown in Figure 4 is similar to the embodiment shown in Figure 3; after determining the tilt angle of the projection device relative to the inclined surface, the rotating platform, which is a hardware structure, is controlled to drive the projection device and adapt it to the actual inclined surface. For specific adjustment methods of the projection device, please refer to the embodiment in Figure 3. With this method, the integrity of the image projected by the adjusted projection device is maintained, or tilting is prevented, improving visibility.

[0053] Figure 5 is a flowchart showing another embodiment of the calibration method for the vehicle projection device shown in Figure 1. As shown in Figure 5, step S2 (a step of determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information) includes step S231. Step S3 (a step of adjusting the projection device based on the reference information) includes steps S321 to S322. Step S231 is performed after step S15 and before step S321.

[0054] In step S231, the boundary line of the obstacle within the projection area is determined and marked. After determining that an obstacle exists on the actual projection ground, the type of obstacle can be determined using the vehicle's camera. For example, the obstacle may be a building or cliff located higher than the ground, or a depression or hole located lower than the ground. The boundary line of the obstacle can be determined and marked using a holographic diffraction grating structure.

[0055] In step S321, based on the marked boundary of the obstacle, some display components to be projected within the area of ​​the obstacle are determined. The projection device includes display components for displaying an image to the external environment. Based on the determined boundary of the obstacle, some display components to be projected within the area of ​​the obstacle can be precisely determined.

[0056] In step S322, control is performed to turn off some of the determined display components, preventing the display of projected images located within the area of ​​the obstacle. By controlling some of the determined display components, the display of projected images located within the area of ​​the obstacle is prevented, thereby improving visibility.

[0057] According to the proposed technology, based on the already determined boundary lines of the obstacle, certain display components that will be projected within the obstacle's area are precisely determined. By controlling these display components, the projection image located within the obstacle's area is not displayed, thereby improving visibility.

[0058] Figure 6 is a flowchart showing another embodiment of the calibration method for the vehicle projection device shown in Figure 1. The embodiment shown in Figure 6 is similar to the embodiment shown in Figure 5, the main difference being that step S3 (the step of adjusting the projection device based on reference information) further includes steps S331 to S332. Step S331 is performed after step S231. Here, steps S321 to S322 and steps S331 to S332 are performed alternately after step S231.

[0059] In step S331, the maximum size of the projected image of the projector is determined based on the marked boundary lines of the obstacles. Here, the edges of the maximum size projected image do not extend beyond the boundary lines. The maximum size of the projected image of the projector is accurately determined based on the marked boundary lines of the obstacles, and the edges of the maximum size projected image do not extend beyond the boundary lines.

[0060] In step S332, the optical assembly is controlled to adjust the projected image of the projector to its maximum size so that the projection area does not overlap with the area of ​​the obstacle. The projector includes an optical assembly, which allows for resizing of the projected image. By controlling the optical assembly, the projected image of the projector can be precisely adjusted to its maximum size, ensuring that the projection area does not overlap with the area of ​​the obstacle and guaranteeing image integrity.

[0061] In other embodiments, the desired projection position can also be obtained by adjusting and calibrating the projection device's angle by controlling the center console. To enhance convenience for users with different usage habits, the system is divided into two modes: automatic adjustment mode and manual adjustment mode. In manual adjustment mode, the user can control the projected image in the X and Y directions of the vehicle body from the control interface. On the other hand, in automatic adjustment mode, the user can set the position with a single touch. Furthermore, it is equipped with a projection position memory function, which can store the user's projection angle and position.

[0062] Figure 7 is a block diagram of one embodiment of a calibration system for a vehicle projection device according to the present invention. As shown in Figure 7, the present invention further provides a computer-readable storage medium on which a program is stored, and when the program is executed by the processor, the calibration method for a vehicle projection device described in the embodiments of Figures 1 to 6 is executed. In some embodiments, the computer-readable storage medium may be an internal storage device of the vehicle, such as a hard disk or memory. Alternatively, the storage medium may be an external storage device of the vehicle, such as a plug-in hard disk, Smart Media Card (SMC), SD card, or Flash Card. Furthermore, the storage medium may include both the internal and external storage devices of the vehicle. The computer-readable storage medium is used to store computer programs and other programs and data required by the vehicle, and is also used to temporarily store data that has been output or is awaiting output. At the hardware level, Figure 7 is an example of a hardware structure diagram of a vehicle equipped with the processor of the present invention. In addition to the processor, memory, network interface, and non-volatile memory shown in Figure 7, a vehicle equipped with the calibration system may typically include other hardware depending on its actual function, but details of this are omitted here.

[0063] The present invention further provides a calibration system for a vehicle projection device, comprising one or more processors configured to perform the calibration method for a vehicle projection device described in any one of the embodiments shown in Figures 1 to 6 above. System embodiments correspond fundamentally to method embodiments, so relevant parts should be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative, and units described as separate components may or may not be physically separate. Furthermore, components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Depending on actual needs, some or all of these units can be selected to achieve the objectives of the technical proposal of the present invention. Those skilled in the art can understand and implement the present invention without expending any creative effort.

[0064] The vehicle includes the calibration system for the vehicle projection device described above. The vehicle performs the calibration method for the vehicle projection device described in any one of Figures 1 to 6 using this calibration system. The present invention utilizes sensors, cameras, millimeter-wave radar, etc., mounted on the vehicle itself to collect information on the surrounding environment and the state of the vehicle itself, and configures a projection control system using an optical assembly and display components on the vehicle body. This allows the system to autonomously detect the external environment and then adaptively select an appropriate mode (distance, brightness) for projection. To ensure the image quality of the vehicle projection, in the above scenario, the vehicle's existing sensors are used to check the surrounding environment and compensate for the impact of the vehicle's attitude on the projection. Even when the vehicle is parked on an uneven or inclined outdoor surface, the projection device adjusts according to the actual driving environment, avoiding tilt and distortion of the projected image. Furthermore, because it can adaptively adjust based on the actual driving environment, it can be applied to a wider variety of driving environments, offering excellent adaptability and improving visibility and user experience. Furthermore, it enhances the completeness, reliability, and accuracy of two-dimensional projected image information from vehicles, promoting vehicle intelligence and enabling two-dimensional projected images to adapt to a wider variety of driving environments. By utilizing existing in-vehicle hardware and enhancing display effects through software capabilities, it achieves broad user benefits with limited hardware costs. Clear information display in vehicle projection interactions improves attention and readability, promoting the sophistication and intelligence of vehicle interactions and providing multifaceted benefits, including enhanced brand value.

[0065] The foregoing are merely preferred embodiments of the present invention and are not intended to limit it. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of the claims.

[0066] This invention claims priority to a Chinese patent application filed with the Chinese National Patent Office on 25 January 2024, application number 2024101083560, with the title of the invention "Calibration method, system, vehicle and storage medium for a vehicle projection device," the entire contents of which are incorporated herein by reference.

Claims

1. The steps include determining the actual projection ground information of the projection device, The steps include determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information, The step of adjusting the projection device based on the aforementioned reference information is included. A method for calibrating a vehicle projection device, characterized by the following features.

2. The step of determining the actual projection ground information of the projection device is: The steps include controlling the projection device to project a calibration pattern onto the actual projection surface, A step of determining whether or not distortion has occurred in the projected image of the calibration pattern, If it is determined that distortion has occurred in the projected image of the calibration pattern, the step is to determine whether the amount of distortion in the projected image of the calibration pattern is continuous or not. If the amount of distortion in the projection image of the calibration pattern is continuous, the step of determining that the actual projection ground is an inclined surface, The step of determining that an obstacle exists on the actual projection ground if the amount of distortion of the projection image of the calibration pattern is not continuous. The calibration method for a vehicle projection device according to claim 1.

3. After determining that the actual projection ground is an inclined surface, the step of determining the reference information for the projection device relative to the actual projection ground based on the actual projection ground information is: The steps include obtaining the vehicle tilt angle with respect to the inclined surface and the device state angle of the projection device with respect to the vehicle, The steps include determining the tilt angle of the projection device with respect to the inclined surface based on the vehicle tilt angle and the device state angle, The step includes determining the maximum value among the device tilt angles as the tilt angle of the projection device with respect to the inclined surface. The calibration method for a vehicle projection device according to claim 2.

4. After determining that the actual projection ground is an inclined surface, the step of determining the reference information for the projection device relative to the actual projection ground based on the actual projection ground information is: The steps include: controlling the projection device to project the calibration pattern onto an inclined surface having a plurality of pre-set different inclination angles, and acquiring a plurality of calibration images corresponding to each inclination angle; The steps include: obtaining a projected image after projecting the calibration pattern onto the actual projection ground; The step includes comparing the projected image with the plurality of different calibration images, and determining the tilt angle corresponding to one of the plurality of different calibration images as the tilt angle of the projection device with respect to the inclined surface. The calibration method for a vehicle projection device according to claim 2.

5. The vehicle includes a rotating platform, the projection device is mounted on the rotating platform, and the step of adjusting the projection device based on the reference information is: The step includes controlling the rotating platform to rotate the projection device in the direction of the inclined surface by an angle of inclination of the projection device relative to the inclined surface, thereby driving the projection device to adjust the angle of inclination of the projection device relative to the inclined surface. Calibration method for a vehicle projection device according to claim 3 or 4, characterized by the above.

6. The direction of rotation of the rotating platform coincides with the direction of inclination of the inclined surface with respect to the ground directly beneath the vehicle. The calibration method for a vehicle projection device according to claim 5.

7. The rotation angle of the rotating platform is the same as the inclination angle of the inclined surface with respect to the ground directly beneath the vehicle. A method for calibrating a vehicle projection device according to claim 5 or 6, characterized in that it is the method described in claim 5 or 6.

8. After determining that an obstacle exists on the actual projection ground, the step of determining reference information for the projection device relative to the actual projection ground based on the actual projection ground information is: The process includes the steps of determining the boundary line of the obstacle within the projection area and marking the boundary line, The calibration method for a vehicle projection device according to claim 2.

9. The projection device includes a display component, and the step of adjusting the projection device based on the reference information is: The steps include determining a portion of the display components to be projected within the area of ​​the obstacle based on the marked boundary line of the obstacle, The steps include controlling some of the determined display components to be turned off, thereby preventing the display of projected images located within the area of ​​the obstacle. The calibration method for a vehicle projection device according to claim 8.

10. The projection device includes an optical assembly, and the step of adjusting the projection device based on the reference information is: A step of determining the maximum size of the projected image of the projection device based on the marked boundary line of the obstacle, The step includes controlling the optical assembly to adjust the projected image of the projection device to the maximum size such that the projection area does not overlap with the area of ​​the obstacle, Here, the edges of the maximum-sized projected image do not extend beyond the boundary line. The calibration method for a vehicle projection device according to claim 8.

11. A computer-readable storage medium in which a program is stored, When the program is executed by the processor, the calibration method for a vehicle projection device according to any one of claims 1 to 10 is executed. A computer-readable storage medium characterized by the following features.

12. Includes one or more processors configured to perform the calibration method for a vehicle projection device according to any one of claims 1 to 10 A calibration system for a vehicle projection device, characterized by the following features.

13. Includes a calibration system for a vehicle projection device as described in claim 12. A vehicle characterized by the following features.

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