Light projection device, light projection method, storage medium, and computer program

Abstract

The present invention provides a light projection device, including an information acquisition module, a processing module, and a projection module. The information acquisition module is configured to acquire environmental information and status information of a first object. The processing module is configured to determine, based on the status information, that the first object is a potentially dangerous object, determine a potentially dangerous area of ​​the first object, and determine, based on the potentially dangerous area and the environmental information, a projection target area, where the projection target area is an area where no light projection exists and where light projection is allowed, and determine whether the projection target area is within a projection range of the projection module. In response to the first result determined by the processing module, the projection module performs light projection within the projection target area to arouse the potential danger caused by the first object. A light projection method, a computer readable storage medium, and a computer program product are also disclosed.

Description

[Technical Field]

[0001] The present application relates to the field of intelligent transportation technology, and in particular to an optical projection device and method, and a storage medium. [Background technology]

[0002] During the driving process, a vehicle may encounter a dangerous situation where a pedestrian suddenly appears in the driving lane (i.e., a collision between a pedestrian who is difficult to see and a vehicle), or encounter a traffic situation with a complex road surface (e.g., a snowy road). If traffic participants do not detect the potential danger in a timely manner, a traffic accident may occur, affecting traffic safety. Summary of the Invention [Problem to be solved by the invention]

[0003] In this regard, an optical projection apparatus and method, as well as a storage medium, are provided. [Means for solving the problem]

[0004] According to a first aspect, an embodiment of the present application provides a light projection device. The device includes an information acquisition module, a processing module, and a projection module. The processing module is separately connected to the information acquisition module and the projection module. The information acquisition module is configured to acquire environmental information and status information of a first object, where the first object includes at least one of a vehicle or a pedestrian, and the status information of the first object includes at least one of position information or movement information of the first object. The processing module is configured to determine, based on the status information, that the first object is a potentially dangerous object, determine a potentially dangerous area of the first object, and determine a projection target area based on the potentially dangerous area and the environmental information, where the projection target area is an area where light projection is not present and where light projection is permitted, and determine whether the projection target area is within a projection range of the projection module. The projection module is configured to perform light projection within the projection target area in response to a first result determined by the processing module, to prompt the user of a potential danger posed by the first object, where the first result is that the projection target area is within the projection range of the projection module.

[0005] The information acquisition module is not limited to a sensor, but may be a module having an information receiving function, such as at least one of a vehicle-to-everything (V2X) module, a cellular communication module, or a Bluetooth (registered trademark) communication module.

[0006] According to this embodiment of the present application, the light projection device includes an information acquisition module, a processing module, and a projection module. The information acquisition module acquires environmental information and status information of a first object. The processing module may determine, based on the status information, that the first object is a potentially dangerous object, determine a potentially dangerous area of the first object, and, based on the potentially dangerous area and the environmental information, determine a projection target area where light projection is not present and where light projection is allowed, and determine whether the projection target area is within a projection range of the projection module. In response to a first result determined by the processing module (that the projection target area is within the projection range of the projection module), the projection module projects light within the projection target area to alert the user to the potential danger posed by the first object. Thus, when the light projection device detects a potential danger to another traffic participant through its sensing and projection functions, it will alert or warn of the potential danger, and during the projection, determine the area where no light projection exists and where light projection is permitted as the projection target area, avoiding overlapping projections, improving the warning effect, and forming a danger information sharing mechanism, thereby effectively improving traffic safety.

[0007] According to a first aspect, in a first possible implementation of the optical projection device, the device further includes a transmission module configured to transmit information indicating that the first object is a potentially dangerous object and the projection target area to another device in response to a second result determined by the processing module, wherein the second result is that the projection target area is not within the projection range of the projection module.

[0008] The other device may be, for example, another optical projection device whose projection range can cover the projection target area so as to implement relay transfer of projection information, or may be a transfer device (such as an RSU) that does not have a projection function, or may be another optical projection device whose projection range cannot cover the projection target area.

[0009] In this embodiment, when the projection target area is not within the projection range of the projection module, the light projection device can use the processing module to send information indicating that the first object is a potentially dangerous object and the projection target area to another device, so that the other device with projection function can perform light projection on the potential danger posed by the first object, or the other device without projection function can forward the information indicating that the first object is a potentially dangerous object and the projection target area. In this way, the other device can perform light projection or relay forwarding on the potential danger that is within the projection target area but not within the projection range of the light projection device, thereby improving projection efficiency and enabling the sharing of danger information, thereby improving traffic safety.

[0010] According to the first aspect or a first possible implementation of the first aspect, in a second possible implementation of the light projection device, the first object is a plurality of objects. The processing module is further configured to determine a projection sequence of the plurality of objects based on a potential risk level of each of the plurality of objects. Configuring the projection module to perform light projections within the projection target area includes configuring the projection module to perform a plurality of light projections in one-to-one correspondence with the plurality of objects according to the projection sequence.

[0011] In this embodiment, by determining the projection sequence of multiple objects, objects with high potential danger can be preferentially projected, thereby improving the warning effect, effectively reducing the occurrence rate of potential danger, and improving traffic safety.

[0012] According to the first aspect, or any one of the first possible implementation of the first aspect or the second possible implementation of the first aspect, in a third possible implementation of the light projection device, the processing module is further configured to generate a projected image and light control information. Configuring the projection module to perform light projection within the projection target area includes configuring the projection module to perform light projection within the projection target area based on the projected image and the light control information, where the projected image is determined based on environmental information and a potential hazard posed by the first object, the light control information is determined based on the environmental information, the projected image, and the projection target area, and the light control information includes at least one of an angle, brightness, or color of the light.

[0013] In this embodiment, the projection image is determined based on the environmental information and the potential danger caused by the first object, and the light control information is determined based on the environmental information, the projection image, and the projection target area, so that the projection image and the light control information can be combined with the potential danger caused by the first object and the external environment information, thereby improving the readability of the danger warning and improving the projection effect.

[0014] In a fourth possible implementation of the optical projection device according to the first aspect or any one of the first possible implementation of the first aspect to the third possible implementation of the first aspect, the processing module is further configured to determine a potentially dangerous scenario of the first object.

[0015] In this embodiment, the processing module can further determine a potentially dangerous scenario of the first object. By determining the potentially dangerous scenario of the first object, the projected image can be conveniently determined by identifying the potential danger of the first object, thereby improving the accuracy of the light projection.

[0016] According to a fourth possible implementation of the first aspect, in a fifth possible implementation of the optical projection device, the processing module is further configured to determine a potential danger level of the first object based on at least one of a potentially dangerous area or a potentially dangerous scenario.

[0017] In this embodiment, the potential danger of the first object is determined based on at least one of a potentially dangerous area or a potentially dangerous scenario, so that the potential danger can be associated with the potentially dangerous area or the potentially dangerous scenario, thereby improving the accuracy of the potential danger of the first object.

[0018] According to the first aspect, in a sixth possible implementation of the light projection device, the processing module being configured to determine that the first object is a potentially dangerous object based on the status information includes predicting a motion track of the first object for a predetermined future period based on the status information, and determining that the first object is a potentially dangerous object based on the motion track.

[0019] In this embodiment, the movement trajectory of the first object for a predetermined future period can be predicted based on the status information, and the first object is determined to be a potentially dangerous object based on the movement trajectory, thereby determining the potentially dangerous object by using the movement trajectory, which improves the processing efficiency of the processing module and improves the accuracy of the potentially dangerous object.

[0020] According to a sixth possible implementation of the first aspect, in a seventh possible implementation of the light projection device, the predetermined future period includes a plurality of future moments, the motion trajectory of the first object during the predetermined future period includes location areas of the first object at the plurality of future moments, and determining that the first object is a potentially dangerous object based on the motion trajectory includes, for an object that is a vehicle among the first objects, determining whether, at any future moment within the predetermined future period, the location area of the object at that future moment overlaps with the location area of another object other than the first object among the first objects at that future moment, and when the location areas overlap, determining that the object and the other object whose location area overlaps with the location area of the object are potentially dangerous objects.

[0021] In this embodiment, the first object is determined as a potentially dangerous object based on the overlap of position areas at the same time point in the future, which is simple, fast, and highly accurate, and can improve the processing efficiency of the processing module.

[0022] In an eighth possible implementation of the light projection device according to the first aspect or any one of the first possible implementation of the first aspect to the seventh possible implementation of the first aspect, the light projection device is applied to a vehicle or roadside infrastructure.

[0023] In this embodiment, the light projection device can be applied to a vehicle or roadside infrastructure, which can timely detect potential dangers caused by other traffic participants by using the sensing function of the vehicle or roadside infrastructure, and can alert the potential dangers through light irradiation to improve traffic safety.

[0024] According to a second aspect, an embodiment of the present application provides a light projection method, which is applied to a light projection device and includes the steps of: acquiring environmental information and status information of a first object, where the first object includes at least one of a vehicle or a pedestrian, and the status information of the first object includes at least one of position information or movement information of the first object; determining that the first object is a potentially dangerous object based on the status information; determining a potentially dangerous area of the first object; determining a projection target area based on the potentially dangerous area and the environmental information, where the projection target area is an area where light projection is not present and where light projection is permitted; determining whether the projection target area is within a projection range of the light projection device; and, when the projection target area is within the projection range of the light projection device, projecting light within the projection target area to alert the user of the potential danger posed by the first object.

[0025] According to this embodiment of the present application, a light projection method is applied to a light projection device. The method can acquire environmental information and status information of a first object, and determine that the first object is a potentially dangerous object based on the status information. A potentially dangerous area of the first object is further determined. A projection target area is then determined based on the potentially dangerous area and the environmental information, where the projection target area is an area where no light projection is present and light projection is permitted. Additionally, the method determines whether the projection target area is within the projection range of a light projection module. When the projection target area is within the projection range of the light projection device, light projection is performed within the projection target area to alert other traffic participants to the potential danger posed by the first object. As a result, if a potential danger is detected, the light projection is used to alert or warn other traffic participants of the potential danger. During projection, the projection target area is determined to be an area where no light projection is present and light projection is permitted, thereby avoiding overlapping projections, improving the warning effect, and forming a danger information sharing mechanism, thereby effectively improving traffic safety.

[0026] According to a second aspect, in a first possible implementation of the light projection method, the method further includes a step of transmitting information indicating that the first object is a potentially dangerous object and the projection target area to another device when the projection target area is not within the projection range of the light projection device.

[0027] In this embodiment, when the projection target area is not within the projection range of the projection device, information indicating that the first object is a potentially dangerous object and the projection target area can be transmitted to another device, so that the other device with projection capability can perform light projection on the potential danger posed by the first object, or the other device without projection capability can forward the information indicating that the first object is a potentially dangerous object and the projection target area. In this way, the other device can perform light projection or relay forwarding on the potential danger that is within the projection target area but not within the projection range of the light projection device, thereby improving projection efficiency and enabling the sharing of danger information, thereby improving traffic safety.

[0028] According to the second aspect or a first possible implementation of the second aspect, in a second possible implementation of the light projection method, the first object is a plurality of objects, and the method further includes a step of determining a projection sequence of the plurality of objects based on a potential danger level of each of the plurality of objects, and performing light projection within the projection target area includes performing a plurality of light projections in one-to-one correspondence with the plurality of objects according to the projection sequence.

[0029] In this embodiment, by determining the projection sequence of multiple objects, objects with high potential danger can be preferentially projected, thereby improving the warning effect, effectively reducing the occurrence rate of potential danger, and improving traffic safety.

[0030] In a third possible implementation of the light projection method according to the second aspect, or any one of the first possible implementation of the second aspect or the second possible implementation of the second aspect, the method further includes generating a projection image and light control information, and performing light projection within the projection target area includes performing light projection within the projection target area based on the projection image and the light control information, the projection image being determined based on environmental information and potential danger posed by the first object, and the light control information being determined based on the environmental information, the projection image, and the projection target area, and the light control information including at least one of an angle, brightness, or color of the light.

[0031] In this embodiment, the projection image is determined based on the environmental information and the potential danger caused by the first object, and the light control information is determined based on the environmental information, the projection image, and the projection target area, so that the projection image and the light control information can be combined with the potential danger caused by the first object and the external environment information, thereby improving the readability of the danger warning and improving the projection effect.

[0032] In a fourth possible implementation of the light projection method according to the second aspect or any one of the first possible implementation of the second aspect to the third possible implementation of the second aspect, the method further comprises determining a potentially dangerous scenario of the first object.

[0033] In this embodiment, a potentially dangerous scenario of the first object can be further determined, and in this way, the potential danger level of the first object can be conveniently identified to determine the projection image, thereby improving the accuracy of the light projection.

[0034] According to a fourth possible implementation of the second aspect, in a fifth possible implementation of the light projection method, the method further includes determining a potential danger level of the first object based on at least one of a potentially dangerous area or a potentially dangerous scenario.

[0035] In this embodiment, the potential danger of the first object is determined based on at least one of a potentially dangerous area or a potentially dangerous scenario, so that the potential danger can be associated with the potentially dangerous area or the potentially dangerous scenario, thereby improving the accuracy of the potential danger of the first object.

[0036] According to the second aspect, in a sixth possible implementation of the light projection method, the step of the processing module determining that the first object is a potentially dangerous object based on the status information includes predicting a motion trajectory of the first object for a predetermined future period based on the status information, and determining that the first object is a potentially dangerous object based on the motion trajectory.

[0037] In this embodiment, the movement trajectory of the first object for a predetermined future period can be predicted based on the status information, and the first object is determined to be a potentially dangerous object based on the movement trajectory, so that the potentially dangerous object can be determined by using the movement trajectory, which improves processing efficiency and improves the accuracy of the potentially dangerous object.

[0038] According to a sixth possible implementation of the second aspect, in a seventh possible implementation of the light projection method, the predetermined future period includes a plurality of future time points, and the motion trajectory of the first object during the predetermined future period includes location areas of the first object at the plurality of future time points, and determining that the first object is a potentially dangerous object based on the motion trajectory includes, for an object that is a vehicle among the first objects, determining whether, at any future time point within the predetermined future period, the location area of the object at that future time point overlaps with the location area of another object other than the first object among the first objects at that future time point, and when the location areas overlap, determining that the object and the other object whose location area overlaps with the location area of the object are potentially dangerous objects.

[0039] In this embodiment, the first object is determined as a potentially dangerous object based on the overlap of the position areas at the same time point in the future, which is simple, fast, and highly accurate, and can improve processing efficiency.

[0040] In an eighth possible implementation of the light projection method according to the second aspect or any one of the first possible implementation of the second aspect to the seventh possible implementation of the second aspect, the light projection device is applied to a vehicle or roadside infrastructure.

[0041] In this embodiment, the light projection device is applied to a vehicle or roadside infrastructure, which may use the sensing function of the vehicle or roadside infrastructure to timely detect potential dangers caused by other traffic participants, and alert them to the potential dangers through light irradiation to improve traffic safety.

[0042] According to a third aspect, embodiments of the present application provide a light projection device including a processor and a memory configured to store instructions executable by the processor, wherein when executing the instructions, the processor is configured to implement the light projection method of the second aspect or one or more of the possible implementations of the second aspect.

[0043] According to this embodiment of the present application, environmental information and status information of a first object can be obtained, and based on the status information, the first object can be determined to be a potentially dangerous object, and a potentially dangerous area of the first object can be further determined. Then, based on the potentially dangerous area and the environmental information, a projection target area can be determined, where the projection target area is an area where no light projection is present and light projection is permitted. Additionally, it is determined whether the projection target area is within the projection range of the projection module. When the projection target area is within the projection range of the light projection device, light projection can be performed within the projection target area to alert other traffic participants to the potential danger posed by the first object. As a result, when a potential danger is detected, light projection can be used to alert or warn other traffic participants of the potential danger. During projection, the area where no light projection is present and light projection is permitted can be determined as the projection target area, avoiding overlapping projections, improving the warning effect, and forming a danger information sharing mechanism, thereby effectively improving traffic safety.

[0044] According to a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the light projection method of the second aspect or one or more possible implementations of the second aspect.

[0045] According to an embodiment of the present application, environmental information and status information of a first object can be obtained, and based on the status information, the first object can be determined to be a potentially dangerous object, and a potentially dangerous area of the first object can be further determined. Then, based on the potentially dangerous area and the environmental information, a projection target area can be determined, where the projection target area is an area where no light projection is present and light projection is permitted. Additionally, it is determined whether the projection target area is within the projection range of a projection module. When the projection target area is within the projection range of a light projection device, light projection can be performed within the projection target area to alert other traffic participants to a potential danger posed by the first object. As a result, when a potential danger is detected, light projection can be used to alert or warn other traffic participants of the potential danger. During projection, an area where no light projection is present and light projection is permitted can be determined as the projection target area, thereby avoiding overlapping projections, improving the warning effect, and forming a danger information sharing mechanism, thereby effectively improving traffic safety.

[0046] According to a fifth aspect, an embodiment of the present application provides a computer program product including computer readable code or a non-volatile computer readable storage medium carrying the computer readable code, which, when executed on an electronic device, causes a processor of the electronic device to perform the light projection method of the second aspect or one or more possible implementations of the second aspect when the computer instructions are executed by the processor.

[0047] According to an embodiment of the present application, environmental information and status information of a first object can be obtained, and based on the status information, the first object can be determined to be a potentially dangerous object, and a potentially dangerous area of the first object can be further determined. Then, based on the potentially dangerous area and the environmental information, a projection target area can be determined, where the projection target area is an area where no light projection is present and light projection is permitted. Additionally, it is determined whether the projection target area is within the projection range of a projection module. When the projection target area is within the projection range of a light projection device, light projection can be performed within the projection target area to alert other traffic participants to a potential danger posed by the first object. As a result, when a potential danger is detected, light projection can be used to alert or warn other traffic participants of the potential danger. During projection, an area where no light projection is present and light projection is permitted can be determined as the projection target area, thereby avoiding overlapping projections, improving the warning effect, and forming a danger information sharing mechanism, thereby effectively improving traffic safety.

[0048] These and other aspects of the present application are more concise and comprehensive in the description of the embodiment(s) that follows. [Brief explanation of the drawings]

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, together illustrate exemplary embodiments, features and aspects of the present application and are intended to explain the principles of the present application.

[0050] [Figure 1A] 1 is a schematic diagram of an application scenario of a light projection device according to an embodiment of the present application;

[0051] [Figure 1B] 1 is a schematic diagram of an application scenario of a light projection device according to an embodiment of the present application;

[0052] [Figure 2]1 is a schematic diagram of the structure of a light projection device according to an embodiment of the present application;

[0053] [Figure 3] 1 is a schematic diagram of the structure of a light projection device according to an embodiment of the present application;

[0054] [Figure 4] 1 is a schematic diagram of the structure of a light projection device according to an embodiment of the present application;

[0055] [Figure 5] 1 is a schematic diagram of a treatment process of a treatment module according to an embodiment of the present application;

[0056] [Figure 6] 1 is a schematic diagram of the structure of a light projection device according to an embodiment of the present application;

[0057] [Figure 7] 1 is a schematic flowchart of a light projection method according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0058] Various exemplary embodiments, features, and aspects of the present application are described in detail below with reference to the accompanying drawings, in which like reference numerals indicate elements having the same or similar functions, and in which various aspects of the embodiments are illustrated in the accompanying drawings, which are not necessarily drawn to scale unless otherwise specified.

[0059] The specific term "exemplary" used herein means "serving as an example, embodiment, or illustration." Any embodiment described as an "exemplary" is not necessarily described as superior or better than other embodiments.

[0060] In addition, in order to better explain the present application, numerous specific details are provided in the following specific implementations. Those skilled in the art will understand that the present application can be implemented without some specific details. In some embodiments, methods, means, elements and circuits well known to those skilled in the art are not described in detail so as to emphasize the subject matter of the present application.

[0061] Currently, vehicles typically use vehicle-to-everything (V2X) wireless technology to exchange information with surrounding vehicles, infrastructure, and pedestrians and sense the traffic conditions on the surrounding roads to detect potential hazards they may encounter during their travels, thereby improving road safety.

[0062] However, when V2X technology is used for communication, all traffic participants need to be equipped with V2X terminal devices. However, many of the terminal devices used by conventional vehicles, infrastructure, or pedestrians do not have V2X terminal devices or V2X functions. In addition, even if the terminal devices used by pedestrians have V2X functions, pedestrians may ignore danger alarms from the terminal devices.

[0063] In some scenarios, the vehicle may further use the in-vehicle optical road projection device to project identifiers or warning information onto the road surface to provide driving assistance, vehicle-related warnings to pedestrians, etc. For example, when the vehicle is backing up or a door is opening, the vehicle may use the in-vehicle optical road projection device to project warning information onto the road surface to notify that the vehicle is backing up or that a door is opening.

[0064] However, existing vehicle-mounted optical road projection devices are primarily configured to improve the driving experience and safety of vehicles, but do not warn traffic participants, such as surrounding vehicles and pedestrians, of potential dangers they may encounter. In addition, when each vehicle projects road images by itself, multiple images overlap on the road surface, which may mislead surrounding traffic users and affect traffic safety.

[0065] To solve the above technical problems, the present application provides a light projection device. In this embodiment of the present application, the light projection device senses the traffic conditions of the surrounding road, and when a potential danger associated with another traffic participant (e.g., a surrounding vehicle, a pedestrian, or a non-motorized vehicle) is found, it determines a to-be-projected area (an area where no light projection exists and where light projection is permitted), and when the to-be-projected area is within the projection range of the light projection device, it can use light projection to indicate the potential danger posed by the other traffic participant. In this way, when it senses that another traffic participant has a potential danger, the light projection device prompts or warns of the potential danger through light projection, and during light projection, it can determine the area where no light projection exists and where light projection is permitted as the to-be-projected area, thereby avoiding overlapping light projections, reducing the overlap of multiple images on the road surface, and improving the light projection and warning effect, thereby forming a danger information sharing mechanism and effectively improving traffic safety.

[0066] The light projection device according to this embodiment of the present application may be applied to a vehicle. The vehicle may use the vehicle's sensing function to timely detect potential dangers caused by other traffic participants and alert them to the potential dangers through light projection. The vehicle may include a moving vehicle and a stationary vehicle. The operating state of the vehicle is not limited in this application.

[0067] FIG. 1A is a schematic diagram of an application scenario of a light projection device according to an embodiment of the present invention. As shown in FIG. 1A, vehicle 10 is a powered-off vehicle parked on the side of the road (and cannot be detected), vehicle 11 and vehicle 12 are moving vehicles, vehicle 11 is equipped with a light projection device and has a sensing function, and vehicle 12 does not have a sensing function. While traveling, vehicle 11 detects that pedestrian 13 is moving in the direction of the vehicle's lane, i.e., a scenario of a collision between a hard-to-see pedestrian and a vehicle, and vehicle 12 further detects that pedestrian 13 is approaching a location where pedestrian 13 will appear. However, because vehicle 12 is blocked by vehicle 10, the driver of vehicle 12 cannot detect pedestrian 13 in a timely manner. Vehicle 12 is a potentially dangerous object. In this case, vehicle 11 may determine a projection target area 14 (e.g., an area where pedestrian 13 will appear) for vehicle 12. The projection target area 14 is an area where light projection is not present and is permitted. The vehicle 11 further determines whether the projection target area 14 is within the projection range of the light projection device. If the projection target area 14 is within the light projection range of the light projection device, the vehicle 11 uses the right headlight to project light within the projection target area 14, and displays warning information or warning signs such as "A pedestrian exists in front" or "Pay attention to a pedestrian" on the road surface to alert the vehicle 12.

[0068] FIG. 1B is a schematic diagram of an application scenario of an optical projection device according to an embodiment of the present invention. As shown in FIG. 1B, both vehicle 15 and vehicle 17 are moving vehicles, and neither vehicle has a sensing function. Vehicle 16 is a vehicle stopped on the roadside but not powered off (e.g., a vehicle waiting for a red light to turn green, a bus waiting to pick up or drop off passengers on the roadside, or a vehicle temporarily stopped on the roadside). Vehicle 16 is equipped with an optical projection device and has a sensing function. Although vehicle 16 is stationary, vehicle 16 is not powered off and still performs sensing. When vehicle 16 detects that pedestrian 19 in front of vehicle 16 wants to cross the road, vehicle 16 can determine a projection target area 18 of pedestrian 19 (e.g., an area in front of the pedestrian) to improve traffic safety. The projection target area 18 is an area where no light projection is present and where light projection is permitted. Vehicle 16 further determines whether projection target area 18 is within the projection range of vehicle 16's optical projection device. When the projection target area 18 is within the projection range of the light projection device of vehicle 16, vehicle 16 uses the left headlight to project light into the projection target area 18, and displays prompt information or a prompt identifier such as "Pedestrian crossing the road" to alert general vehicles that do not have rear sensing capabilities, such as vehicle 15 and vehicle 17.

[0069] The light projection device in this embodiment of the present application may further be applied to roadside infrastructure such as a roadside unit (RSU). For example, the light projection device applied to the roadside unit may sense traffic conditions on surrounding roads and, upon sensing a dangerous scenario such as a collision scenario between a hard-to-see pedestrian and a vehicle or a scenario of a traffic accident occurring ahead, determine a projection target area, where the projection target area is an area where light projection is not present and light projection is permitted, and determine whether the projection target area is within the projection range of the RSU. If the projection target area is within the projection range of the RSU, the light projection device may perform light projection and project warning information or a warning identifier onto the projection target area to alert traffic participants without sensing capabilities (e.g., without V2X capabilities) or pedestrians with sensing capabilities who often ignore the warning information.

[0070] 2 is a schematic diagram of the structure of an optical projection device according to an embodiment of the present invention. As shown in FIG. 2, the optical projection device 200 includes an information acquisition module 210, a processing module 220, and a projection module 230. The processing module 220 is separately connected to the information acquisition module 210 and the projection module 230.

[0071] The information acquisition module 210 may be a sensor, including, but not limited to, at least one of a camera, a LiDAR, a V2X communication unit, a map unit, an inertial measurement unit (IMU), a global positioning system (GPS), a global navigation satellite system (GNSS), etc.

[0072] The information acquisition module 210 may also be a module having an information receiving function, such as a V2X communication module, a cellular communication module, or a Bluetooth® communication module. The specific implementation of the information acquisition module is not limited in this application.

[0073] The information acquisition module 210 may be configured to acquire environmental information and status information of a first object. That is, the first object is a traffic participant within the sensing area of the light projection device 200. The first object may include at least one of a vehicle and a pedestrian. For example, when a vehicle A equipped with the light projection device 200 travels on a highway, all traffic participants within the sensing area of the vehicle A are vehicles, and in this case, the first object is a vehicle. When the vehicle A equipped with the light projection device 200 travels on a rural road and there are no vehicles around the vehicle A and only pedestrians pass by, all traffic participants within the sensing area of the vehicle A are pedestrians, and in this case, the first object is a pedestrian. When the vehicle A equipped with the light projection device 200 travels on an urban road and there are both vehicles and pedestrians around the vehicle A, the traffic participants within the sensing area of the vehicle A include vehicles and pedestrians, and in this case, the first object is a vehicle and a pedestrian.

[0074] In a possible implementation, the information acquisition module 210 may identify the first object from the acquired data through information matching, for example, the information acquisition module 210 may match the acquired data with preset vehicle information to acquire the first object as a vehicle, and may match the acquired data with preset pedestrian information to identify the first object as a pedestrian.

[0075] In a possible implementation, the status information of the first object may include at least one of the position information and the motion information of the first object. That is, the status information of the first object may include the position information of the first object, or the status information of the first object may include the motion information of the first object, or the status information of the first object may include the position information and the status information of the first object. The motion information may be, for example, the movement speed, acceleration, or motion status of the first object. The status information of the first object may further include other information related to the status of the first object. Those skilled in the art may set the specific content of the status information based on the actual situation. This is not limited in the present application.

[0076] In a possible implementation, the environmental information may include information related to the environment, such as brightness, temperature, and road surface condition (e.g., snowy road surface). Those skilled in the art may set the specific content of the environmental information based on the implementation situation, which is not limited in the present application.

[0077] In a possible implementation, the information acquisition module 210 may chronologically transmit the acquired environmental information and status information of the first object to the processing module 220. The environmental information and status information may be raw data acquired by the information acquisition module 210, i.e., data that has not been preprocessed, or may be data obtained after preprocessing such as noise reduction, sampling, and normalization has been performed on the raw data acquired by the information acquisition module 210. This is not a limitation in the present application.

[0078] The processing module 220 may be configured to determine the first object as a potentially dangerous object based on the status information of the first object acquired by the information acquisition module 210, determine a potentially dangerous area of the first object, and determine a projection target area based on the potentially dangerous area and the environmental information acquired by the information acquisition module 210, where the projection target area is an area where no light projection is present and where light projection is allowed, and determine whether the projection target area is within the projection range of the projection module 230.

[0079] The processing module 220 may be a general-purpose processor, a special-purpose processor, or another integrated circuit, single-chip microcomputer, microprocessor, chip, etc., capable of performing data processing. The processor (including a general-purpose processor, a special-purpose processor, or a microprocessor) may be a single-CPU processor or a multi-CPU processor. The hardware implementation of the processing module is not limited in this application.

[0080] The projection module 230 may project light within the projection target area to alert of potential danger posed by the first object in response to a first result determined by the processing module 220, where the first result is that the projection target area is within the projection range of the projection module.

[0081] In a possible implementation, the projection module 230 may project light within the projection target area by using a projection light source. The projection light source may be a vehicle light connected to the projection module 230, such as a left headlight of the vehicle or a right headlight of the vehicle. Alternatively, the projection light source may be a light source built into the projection module 230, or may be an independent light source connected to the projection module 230 but disposed outside the projection module 230. The manner in which the projection light source is disposed is not limited in this application.

[0082] 3 is a schematic diagram of the structure of an optical projection device according to an embodiment of the present invention. As shown in FIG. 3, the optical projection device 200 includes an information acquisition module 210, a hazard identification module 240, a projection control module 241, and a projection module 230. The information acquisition module 210 and the projection module 230 are the same as those in FIG. 2, and the details will not be described again here.

[0083] Compared with FIG. 2, the danger identification module 240 and the projection control module 241 in FIG. 3 jointly complete all the functions of the processing module 220 in FIG. 2. The danger identification module 240 may be configured to determine the first object as a potentially dangerous object based on the status information of the first object acquired by the information acquisition module 210, determine a potentially dangerous area of the first object, and determine a projection target area based on the potentially dangerous area and the environmental information acquired by the information acquisition module 210, where the projection target area is an area where no light projection is present and where light projection is permitted. The projection control module 241 may be configured to determine whether the projection target area is within a projection range of the projection module 230. In addition, the projection module 230 may project light within the projection target area in response to a first result determined by the projection control module 241 to alert the user to a potential danger posed by the first object, where the first result is that the projection target area is within the projection range of the projection module.

[0084] It should be understood that the above description is merely an example of the functional division of the hazard identification module 240 and the projection control module 241. Those skilled in the art may configure the functions based on the actual situation, which is not limited in the present application. In addition, the hazard identification module 240 and the projection control module 241 may be deployed on the same hardware or on different hardware. Those skilled in the art may configure the functions based on the actual situation, which is not limited in the present application.

[0085]

[0033] Figure 4 is a schematic diagram of the structure of an optical projection device according to an embodiment of the present invention. Compared with the optical projection device shown in Figure 2, the optical projection device shown in Figure 4 further includes a gateway 260 and an external communication module 270. As an external interface of the optical projection device 200, the external communication module 270 is connected to the information acquisition module 210, the processing module 220, and the projection module 230 through the gateway 260. By using the external communication module 270 and the gateway 260, algorithms, scenario libraries, etc. of the information acquisition module 210, the processing module 220, and the projection module 230 can be updated through technologies such as over-the-air (OTA) technology.

[0086] In a possible implementation, the light projection device shown in FIG. 3 may also include a gateway and an external communication interface, which are similar to the gateway and external communication interface shown in FIG. 4, and the details will not be described again here.

[0087] 5 is a schematic diagram of a processing process of a processing module according to an embodiment of the present application. As shown in FIG. 5, the processing process of the processing module 220 in the optical projection device includes step S501, step S502, step S503 and step S504.

[0088] In step S501, it is determined that the first object is a potentially dangerous object based on the status information.

[0089] The processing module may determine whether the first object poses a potential hazard based on the status information of the first object (i.e., at least one of the position information and the movement information of the first object) acquired by the information acquisition module by determining whether the collision probability of the first object in a predetermined future period is greater than a predetermined collision probability threshold, whether the motion tracks of the first object in a predetermined future period overlap, or whether the location areas of the first object at one or several future time points overlap. If the first object poses a potential hazard, the processing module determines the first object to be a potentially dangerous object.

[0090] In a possible implementation, step S501 may include a step of predicting the movement trajectory of the first object for a predetermined future period based on the status information, and a step of determining that the first object is a potentially dangerous object based on the movement trajectory.

[0091] The processing module may determine, based on the status information of the first object, for example, the location information of the first object, the location area of the first object at the current time through location fitting, key position determination, etc. The location area of the first object may be represented by the area where the external space of the first object is located. The external space may be a square, a cubic polyhedron, etc. The specific shape of the external space is not limited in this application.

[0092] After the location area of the first object at the current time point is determined, the motion trajectory of the first object for a predetermined future period can be predicted based on the location area of the first object at the current time point and the location area of the first object at at least one historical moment, or based on the location area of the first object at the current time point and motion information (e.g., information such as movement speed and acceleration) in the status information of the first object. It should be understood that those skilled in the art may alternatively predict the motion trajectory of the first object using other methods. This is not a limitation in the present application.

[0093] In a possible implementation, the predetermined future period may include multiple future moments, and the movement trajectory of the first object during the predetermined future period may include the position area of the first object at multiple future moments within the predetermined future period.

[0094] For example, the preset future period is 10 seconds, the moment interval is 0.5 seconds, and the preset future period (10 seconds) includes 20 future time points. The processing module can predict the motion trajectory of the first object in the preset future period (10 seconds) based on the location area of the first object at the current time point and the location area of the first object at at least one past time point. The motion trajectory includes the location areas of the first object at the 20 future time points.

[0095] In a possible implementation, the movement trajectory of the first object for a predetermined future period may further include the probability (i.e., likelihood) that the first object will be in the corresponding location area at each future time point.

[0096] For example, for 20 future time points within a predetermined future period, the location area of a first object at a first future time point may be referred to as the first location area, and the probability that the first object will be in the first location area at the first future time point may be referred to as the first location probability, the location area of the first object at a second future time point may be referred to as the second location area, and the probability that the first object will be in the second location area at the second future time point may be referred to as the second location probability, and by analogy, the location area of a first object at a 20th future time point may be referred to as the 20th location area, and the probability that the first object will be in the 20th location area at the 20th future time point may be referred to as the 20th location probability.

[0097] The motion trajectory of the first object for a predetermined future period (10 seconds) may include location areas of the first object at 20 future time points (first location area, second location area, ..., twentieth location area) and the probability that the first object will be in the corresponding location area at each future time point (first location probability, second location probability, ..., twentieth location probability).

[0098] It should be understood that those skilled in the art may set specific values for the predetermined future period and time interval based on actual conditions (e.g., performance indicators such as memory size and processing speed of a processing module), which is not limited in the present application.

[0099] In a possible implementation, when a first object has multiple potential location areas at a future time, the probability that the first object will be in each potential location area at that future time may be determined separately, and the potential location area with the highest probability is determined as the location area of the first object at that future time.

[0100] In a possible implementation, after the motion trajectory of the first object for a predetermined future period is determined, whether the first object poses a potential danger may be determined based on the motion trajectory by determining whether the collision probability of the first object for the predetermined future period is greater than a predetermined collision probability threshold or by determining whether the motion trajectories overlap. If the first object poses a potential danger, the first object is determined to be a potentially dangerous object.

[0101] For example, the first object may be a plurality of objects. After determining whether the first object has a potential danger by determining whether the collision probability of the first object in a predetermined future period is greater than a predetermined collision probability threshold, the processing module may determine a collision probability between objects in the first object based on the motion trajectory of each object in the first object in the predetermined future period, where the collision probability includes at least one of a probability of a vehicle-to-vehicle collision or a probability of a vehicle-to-pedestrian collision, and determine whether the collision probability is greater than or equal to the predetermined collision probability threshold. When the collision probability is greater than or equal to the collision probability threshold, the processing module may determine an object in the first object and associated with the collision probability as a potentially dangerous object.

[0102] In a possible implementation, the predetermined future period may include a plurality of future time points, and the movement trajectory of the first object within the predetermined future period may include location areas of the first object at the plurality of future time points within the predetermined future period. The processing module may determine that the first object is a potentially dangerous object based on the movement trajectory in the following manner.

[0103] The first object is a plurality of objects. For an object that is a vehicle within the first object, at any future time within a preset future period, the processing module may determine whether the location area of the object at that future time overlaps with the location area of another object (including a vehicle or a pedestrian) within the first object at that future time. When the location areas overlap, the object and another object having a location area overlapping with the location area of the object may be determined as potentially dangerous objects. In other words, the potentially dangerous object may collide at a future time, potentially affecting traffic safety.

[0104] The first object is determined as a potentially dangerous object based on the overlap of the position areas at the same future moment, which is simple, fast and highly accurate, and can improve the processing efficiency of the processing module.

[0105] In a possible implementation, for an object that is a pedestrian within the first object, it is determined by the above-mentioned method that the location area of the pedestrian at a future time point overlaps with the location area of the vehicle at the future time point. However, if the location area of the pedestrian at a future time point overlaps with the location area of another pedestrian, taking into account the subjective obstacle avoidance behavior of the pedestrian, even if the future location areas of the pedestrians overlap, no collision will occur and there is no potential risk.

[0106] In a possible implementation, the potentially dangerous object may include at least one object group, each object group being a traffic participant of the same potential danger, i.e., the potentially dangerous object may include at least two objects.

[0107] In step S502, a potentially dangerous area of the first object is determined.

[0108] When the first object is a potentially dangerous object, a potentially dangerous area of the first object may be determined, where the potentially dangerous area includes an area where a collision may occur. Optionally, the potentially dangerous area of the first object may be determined based on the motion trajectory of the first object. For example, for a first object whose position area in the motion trajectory overlaps, the overlapping area may be determined as the potentially dangerous area of the first object, or the overlapping area and a surrounding area of a preset size around the overlapping area may be determined as the potentially dangerous area of the first object. It should be understood that a person skilled in the art may set a method for determining a potentially dangerous area based on actual circumstances. This is not a limitation in the present application.

[0109] In a possible implementation, the accuracy of the potentially hazardous area of the first object may be determined based on at least one of the size and location of the potentially hazardous area, the probability that the first object is located within the overlap location area, etc. The accuracy may indicate the probability that the first object will collide in the potentially hazardous area.

[0110] In a possible implementation, when the first object is a potentially dangerous object, the system may further determine a potentially dangerous scenario of the first object, which is a scenario in which the first object may collide, including a scenario in which a vehicle collides with another vehicle (e.g., a vehicle rear-end collision or a vehicle scraping) or a scenario in which a vehicle collides with a pedestrian (e.g., a pedestrian suddenly appears in a vehicle's lane, a hard-to-see pedestrian-vehicle collision scenario).

[0111] In a possible implementation, a scenario library including multiple potentially dangerous scenarios may be pre-configured, and the potentially dangerous scenario of the first object may be determined by methods such as feature comparison and feature matching. The method of determining the potentially dangerous scenario is not limited in this application.

[0112] By determining the potentially dangerous scenario of the first object, it is convenient to identify the potential danger level of the first object to determine the projection image, thereby improving the accuracy of the light projection.

[0113] In step S503, a projection target area is determined based on the potentially dangerous area and the environmental information, where the projection target area is an area where no light projection is present and where light projection is permitted.

[0114] In a possible implementation, once the projection target area is determined, it may first be determined whether the light projection exists within a potentially dangerous area of the first object at the current time. Optionally, an image or feature information of the potentially dangerous area at the current time may be acquired, and through image analysis, feature comparison, etc., it is determined whether the light projection exists within the potentially dangerous area at the current time.

[0115] For example, the characteristic information of the light projection may be preset. When determining whether the light projection exists in the potentially dangerous area at the current time point, the similarity between the characteristic information of the potentially dangerous area at the current time point (which may be extracted from sensing data such as an image) and the preset characteristic information of the light projection may be calculated. When the similarity is equal to or less than the preset similarity threshold, it is considered that the light projection does not exist in the potentially dangerous area at the current time point. When the similarity is greater than the preset similarity threshold, it is considered that the light projection exists in the potentially dangerous area at the current time point.

[0116] In a possible implementation, the image or feature information of the potentially dangerous area at the current time is input to the light projection identification network for identification to obtain an identification result, and based on the identification result, it is determined whether there is a light projection in the potentially dangerous area at the current time. The light projection identification network is a trained neural network, such as a convolutional neural network (CNN). The network type of the light projection identification network is not limited in this application.

[0117] In a possible implementation, when there is currently no light projection within the potentially dangerous area of the first object, whether light projection is permitted within the potentially dangerous area of the first object may be determined based on environmental information. For example, when the brightness and road surface condition of the environmental information meet preset projection conditions and no road surface identifiers exist within the potentially dangerous area, light projection may be considered permitted within the potentially dangerous area. Otherwise, light projection may be considered not permitted within the potentially dangerous area. In this way, image overlap caused by projection on existing road surface identifiers can be avoided, thereby improving the projection effect.

[0118] When light projection is not present in a potentially dangerous area of the first object at the current time and light projection is permitted, a projection target area is determined. For example, the potentially dangerous area may be determined as the projection target area. Optionally, a time point of occurrence of a potential danger corresponding to the potentially dangerous area may be determined, and the projection area is determined based on the time point of occurrence of the potential danger. For example, when the difference between the time point of occurrence of a potential danger corresponding to the potentially dangerous area and the current time point is less than a preset difference threshold, the potentially dangerous area or an area within the potentially dangerous area may be determined as the projection target area.

[0119] In a possible implementation, once the projection target area is determined, the movement trajectory of the first object in a predetermined future period may be further taken into consideration. Similar to the above method, it may be determined that, at the current time, no light projection is present and light projection is permitted in both the area where the movement trajectory of the first object in a predetermined future period is located and the potentially dangerous area, and then the projection target area is determined based on the movement trajectory of the first object in the predetermined future period and the potentially dangerous area.

[0120] For example, a time point of occurrence of a potential danger corresponding to a potentially dangerous area may be determined, and when the difference between the time point of occurrence of the potential danger and the current time point is equal to or greater than a predetermined difference threshold, a central area within the location area where the first object is located at a future time point (e.g., a second future time point) within the motion trajectory of the first object may be determined as the projection target area. The central area is an area including the center point of the location area. The size of the central area may be set based on the actual situation. This is not limited in the present application.

[0121] It should be understood that when determining the projection target area, other factors such as potentially dangerous scenarios may be further taken into consideration. This is not a limitation in the present application. Alternatively, the projection target area may be located at another position. For example, an area of a predetermined size in front of the driver within the location area where the first object will be located at a future time point may be determined as the projection target area, so that the driver can see the projection information. Those skilled in the art may set the specific location of the projection target area based on actual situations. This is not a limitation in the present application.

[0122] In a possible implementation, when determining the projection target area, a possible projection area may first be determined based on potentially dangerous areas and environmental information, and similar to the method described above, it is determined whether light projection exists within the possible projection area and whether light projection is permitted within the possible projection area, and when light projection exists within the possible projection area and light projection is permitted, the possible projection area is determined as the projection target area.

[0123] In step S504, it is determined whether the projection target area is within the projection range of the projection module.

[0124] Whether the projection target area is within the projection range of the projection module may be determined through area coverage, position comparison, etc. based on the projection range of the projection module.

[0125] When the projection target area is within the projection range of the projection module, a first result may be transmitted to the projection module, such that the projection module performs light projection within the projection target area in response to the first result to notify the user of potential danger caused by the first object.

[0126] In a possible implementation, when the projection target area is within the projection range of the projection module, the processing module may be further configured to generate a projection image and light control information, where the projection image is determined based on the environmental information and a potential danger caused by the first object, the light control information is determined based on the environmental information, the projection image, and the projection target area, and the light control information includes at least one of an angle, brightness, or color of light.

[0127] For example, when generating a projection image, the external brightness may be determined based on the environmental information, and the projection image is determined based on the external brightness and the potential danger caused by the first object, so that the projection image can accurately depict the potential danger and is easy to identify, for example, there is a large contrast between the projection image and the external brightness.

[0128] In a possible implementation, when a projection image is generated, a first Object A potentially dangerous scenario of the first object may be further considered. A plurality of objects related to the potentially dangerous scenario of the first object may be determined, and a projection image is generated separately for each object. The projection images of different objects may be different. For example, a potentially dangerous scenario of the first object is a scenario in which a vehicle may collide with a pedestrian. In this scenario, the projection image generated for the pedestrian is "A vehicle is in front," and the projection image generated for the vehicle is "A pedestrian is in front." The projection images may be set based on an actual situation, which is not limited in the present application.

[0129] In a possible implementation, when the projected image has a direction, the movement direction of the second object may be further determined based on the motion trajectory of the second object corresponding to the projected image, and the direction of the projected image of the second object is determined based on the movement direction of the second object, so that the view direction of the projected image coincides with the movement direction of the second object. The second object is the object projected in the projected image. For example, the second object corresponding to the projected image generated for vehicle B is vehicle B.

[0130] In a possible implementation, the light control information may be determined based on environmental information, a projection image, and a projection target area, where the light control information includes at least one of the angle, brightness, and color of the light. For example, the relative position of the projection target area and the projection module may be determined, and the angle of the light being projected may be determined based on the relative position and the projection image. The brightness and color of the light being projected may be determined based on environmental information (e.g., road surface conditions and brightness) within the projection range of the projection module and the projection image (e.g., projectable color and brightness). For example, when the road surface condition is snowy, the color of the light being projected may be determined to be red. In this way, the light control information can be determined by referring to the surrounding environmental information, thereby improving the projection effect of the light projection device on complex road surfaces.

[0131] In a possible implementation, after generating the projection image and the light control information, the processing module may send the projection image and the light control information to the projection module, and the projection module may perform light projection within the projection target area based on the projection image and the light control information.

[0132] The projection image is determined based on the environmental information and the potential danger caused by the first object, and the light control information is determined based on the environmental information, the projection image, and the image area, so that the projection image and the light control information can be combined with the potential danger caused by the first object and the external environment information, thereby improving the readability of the danger warning and improving the projection effect.

[0133] In a possible implementation, when the first object is a plurality of objects, the processing module is further configured to determine a projection sequence of the plurality of objects based on a potential danger level of each of the plurality of objects.

[0134] When determining the projection sequence, a potential danger for each of the multiple objects may first be determined based on at least one of a potentially dangerous area or a potentially dangerous scenario. For example, for any object, a time point of occurrence of a potential danger corresponding to the potentially dangerous area of the object may be determined, and the potential danger level of the object may be determined based on a difference between the time point of occurrence of the potential danger and a current time point, where a smaller difference indicates a higher corresponding potential danger level. Alternatively, different weights may be preset for different potentially dangerous scenarios. For any object, a weight corresponding to a potentially dangerous scenario of the object may be determined, and the potential danger level of the object may be determined based on the weight, where a larger weight indicates a higher corresponding potential danger level. Alternatively, for any object, a difference between the time point of occurrence of a potential danger corresponding to the potentially dangerous area of the object and the current time point may be adjusted based on the weight corresponding to the potentially dangerous scenario of the object to obtain an adjusted difference, and the potential danger level of the object may be determined based on the adjusted difference.

[0135] In a possible implementation, when determining the potential danger level of each of the multiple objects, for any object, the accuracy of the potential danger level of the object may be further used as a weight to adjust the difference between the occurrence time of the potential danger corresponding to the potential danger level of the object and the current time to obtain an adjusted difference, and the potential danger level of the object may be determined based on the adjusted difference. It should be understood that those skilled in the art may also set a method for determining the potential danger level based on actual situations, which is not limited in the present application.

[0136] After determining the potential danger levels of the multiple objects, a projection sequence for the multiple objects may be determined based on the potential danger levels. For example, the multiple objects may be sorted in descending order of potential danger levels to determine the projection sequence for the multiple objects. Optionally, once the projection sequence for the multiple objects is determined, it may further consider whether the projection module can simultaneously project multiple objects. When the projection module can simultaneously project multiple objects, for example, when the projection module includes three independent projection light sources and can simultaneously project three objects, three projection queues may be determined, i.e., each projection light source corresponds to one projection queue, and the objects in each projection queue are also arranged in descending order of potential danger levels. Alternatively, one main projection queue may be determined, and the objects in the main projection queue are also arranged in descending order of potential danger levels. The projection module distributes the objects in the main projection queue to the three light sources for projection according to the projection sequence, for example, light projection is performed simultaneously for the first to third objects in the main projection queue.

[0137] In a possible implementation, when multiple objects are projected simultaneously, the potentially dangerous scenarios of the simultaneously projected objects may be different. For example, a projection module may simultaneously project three objects. The potentially dangerous scenario of the first object is a possible vehicle rear-end collision scenario, the potentially dangerous scenario of the second object is a possible vehicle scraping scenario, and the potentially dangerous scenario of the third object is a possible hard-to-see pedestrian-vehicle collision scenario. Projecting multiple objects simultaneously can improve projection efficiency, thereby improving traffic safety.

[0138] In a possible implementation, after the projection sequence of the multiple objects is determined, the processing module sends the projection sequence to the projection module, so that the projection module sequentially performs light projection in one-to-one correspondence with the multiple objects according to the projection sequence.

[0139] By determining the projection sequence of multiple objects, objects with a high potential danger level can be preferentially projected, thereby improving the warning effect, effectively reducing the occurrence rate of potential danger, and improving traffic safety. According to this embodiment of the present application, the light projection device includes an information acquisition module, a processing module, and a projection module. The information acquisition module acquires environmental information and status information of a first object. The processing module may determine, based on the status information, that the first object is a potentially dangerous object, determine a potentially dangerous area of the first object, and, based on the potentially dangerous area and the environmental information, determine a projection target area where light projection is not present but where light projection is permitted, and determine whether the projection target area is within the projection range of the projection module. In response to the first result of the processing module (the projection target area is within the projection range of the projection module), the projection module performs light projection within the projection target area to alert the user to the potential danger posed by the first object. In this way, the light projection device can perform the sensing and projection functions of the light projection device, and when it senses that there is a potential danger to another traffic participant, it will alert or warn of the potential danger, and during the projection, it will determine the area where there is no light projection and where light projection is allowed as the projection target area, avoiding overlapping projections, improving the projection and warning effect, and forming a danger information sharing mechanism, thereby effectively improving traffic safety.

[0140] 6 is a schematic diagram of the structure of an optical projection device according to one embodiment of the present invention. As shown in FIG. 6, the optical projection device 200 includes an information acquisition module 210, a processing module 220, a projection module 230, and a transmission module 280. The optical projection device 200 includes the information acquisition module 210, the processing module 220, and the projection module 230 similar to those described above, which will not be described again here.

[0141] The transmission module 280 may transmit information indicating that the first object is a potentially dangerous object and the projection target area to another device in response to a second result determined by the processing module 220, where the second result is that the projection target area is not within the projection range of the projection module 230.

[0142] The above-mentioned other device may be, for example, another optical projection device whose projection range can cover the projection target area, or may be a transfer device (such as an RSU) that does not have projection functionality, or may be another optical projection device whose projection range cannot cover the projection target area.

[0143] When the projection target area is not within the projection range of the projection module 230, i.e., when the projection target area exceeds the projection range of the projection module 230, the processing module 220 may transmit information indicating that the first object is a potentially dangerous object and the projection target area to the transmission module 280. After receiving the information indicating that the first object is a potentially dangerous object and the projection target area, the transmission module 280 transmits the information indicating that the first object is a potentially dangerous object and the projection target area to another device using a wireless communication method such as V2X communication, Bluetooth communication, or cellular communication, so that the other device with a projection function performs light projection on the potential danger posed by the first object, or the other device without a projection function performs relay forwarding of the information indicating that the first object is a potentially dangerous object and the projection target area.

[0144] The information indicating that the first object is a potentially dangerous object may include at least one of information such as the current location of the first object, a potentially dangerous area, a potentially dangerous scenario, a potential danger level, and a movement trajectory of the first object. It should be understood that a person skilled in the art may set the specific content of the information indicating that the first object is a potentially dangerous object based on the actual situation. This is not limited in the present application.

[0145] According to this embodiment of the present application, when the projection target area is not within the projection range of the projection module, the light projection device can use the transmission module to transmit information indicating that the first object is a potentially dangerous object and the projection target area to another device, so that another device with projection function can perform light projection on the potential danger posed by the first object, or another device without light projection function can forward the information indicating that the first object is a potentially dangerous object and the projection target area. In this way, the other device can perform light projection or relay forwarding on the potential danger that is within the projection target area but not within the projection range of the light projection device, so as to improve projection efficiency and enable the sharing of danger information, thereby improving traffic safety.

[0146] 7 is a schematic flowchart of a light projection method according to an embodiment of the present application. As shown in FIG. 7, the light projection method is applied to a light projection device, and the method includes the following steps:

[0147] Step S701: Obtain environment information and status information of a first object, where the first object includes at least one of a vehicle and a pedestrian, and the status information of the first object includes at least one of position information and movement information of the first object.

[0148] Step S702: Determine that the first object is a potentially dangerous object based on the status information.

[0149] Step S703: Determine the potentially dangerous area of the first object.

[0150] Step S704: Determine a projection target area based on the potentially dangerous area and the environment information, where the projection target area is an area where no light projection exists and where light projection is allowed.

[0151] Step S705: Determine whether the projection target area is within the projection range of the optical projection device.

[0152] Step S706: When the projection target area is within the projection range of the light projection device, perform light projection within the projection target area to alert the potential danger caused by the first object.

[0153] In a possible implementation, the method further includes transmitting information indicating that the first object is a potentially dangerous object and the projection target area to another device when the projection target area is not within the projection range of the light projection device.

[0154] In a possible implementation, the first object is a plurality of objects, and the method further includes determining a projection sequence for the plurality of objects based on a potential danger level of each of the plurality of objects, and performing light projection within the projection target area includes performing a plurality of light projections in one-to-one correspondence with the plurality of objects according to the projection sequence.

[0155] In a possible implementation, the method further includes generating a projection image and light control information, and performing light projection within the projection target area includes performing light projection within the projection target area based on the projection image and the light control information, wherein the projection image is determined based on environmental information and potential dangers posed by the first object, the light control information is determined based on the environmental information, the projection image, and the projection target area, and the light control information includes at least one of the angle, brightness, or color of the light.

[0156] In a possible implementation, the method further comprises determining a potentially dangerous scenario of the first object.

[0157] In a possible implementation, the method further includes determining a potential danger level of the first object based on at least one of a potentially dangerous area or a potentially dangerous scenario.

[0158] In a possible implementation, determining that the first object is a potentially dangerous object based on the status information includes predicting a motion trajectory of the first object for a predetermined future period based on the status information, and determining that the first object is a potentially dangerous object based on the motion trajectory.

[0159] In a possible implementation, the predetermined future period includes multiple future time points, the movement trajectory of the first object during the predetermined future period includes location areas of the first object at multiple future time points, and determining that the first object is a potentially dangerous object based on the movement trajectory includes: for an object that is a vehicle within the first object, determining whether, at any future time point within the predetermined future period, the location area of the object at that future time point overlaps with the location area of another object other than the object within the first object at that future moment; and when the location areas overlap, determining that the object and the other object whose location area overlaps with the location area of the object are potentially dangerous objects.

[0160] In a possible implementation, the light projection devices are applied to vehicles or roadside infrastructure.

[0161] One embodiment of the present application provides a light projection device including a processor and a memory configured to store instructions executable by the processor, wherein the processor is configured to implement the above method when executing the instructions.

[0162] One embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions that, when executed by a processor, implement a method.

[0163] One embodiment of the present application provides a computer program product including computer readable code or a non-volatile computer readable storage medium carrying the computer readable code, which when executed by a processor of an electronic device causes the processor in the electronic device to perform the above-mentioned method.

[0164] A computer-readable storage medium may be a tangible device that can hold and store instructions for use by an instruction-execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include portable computer disks, hard disks, Random Access Memory (RAM), Read Only Memory (ROM), Electrically Programmable Read-Only Memory (EPROM or flash memory), Static Random Access Memory (SRAM), portable Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disk (DVD), memory sticks, floppy disks, mechanical coding devices such as punched cards or slotted structures that store instructions, and any suitable combination thereof.

[0165] The computer-readable program instructions or code described herein may be downloaded from a computer-readable storage medium to each computing / processing device, or may be downloaded to an external computer or external storage device via a network such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0166] The computer program instructions used to perform the operations in this application may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or source or target code written in any combination of one or more programming languages. Programming languages include object-oriented programming languages such as Smalltalk or C++, as well as traditional procedural programming languages such as "C" or similar programming languages. The computer-readable program instructions may execute entirely on the user computer, partially on the user computer, as a standalone software package, partially on the user computer and partially on a remote computer, or entirely on a remote computer or server. When a remote computer is involved, the remote computer may be connected to the user computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), is customized by using the status information of computer-readable program instructions that the electronic circuit may execute to implement various aspects of the present application.

[0167] Various aspects of the present application are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, may be implemented by computer-readable program instructions.

[0168] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or another programmable processing device to produce a machine, such that the instructions, when executed by the processor of the computer or other programmable processing device, create an apparatus for implementing the functions / acts specified in one or more blocks of the flowcharts and / or block diagrams. Alternatively, these computer-readable program instructions may be stored on a computer-readable storage medium. These instructions cause a computer, programmable data processing device, and / or other device to operate in a particular manner. Thus, a computer-readable medium for storing instructions includes an article including instructions for implementing various aspects of the functions / acts specified in one or more blocks of the flowcharts and / or block diagrams.

[0169] Alternatively, these computer-readable program instructions may be loaded into a computer, another programmable data processing apparatus, or another device, such that a series of operational steps are executed on said computer, another programmable data processing apparatus, or another device to produce a computer-implemented process. Thus, the instructions executed on said computer, another programmable data processing apparatus, or another device implement the functions / acts specified in one or more blocks of the flowcharts and / or block diagrams.

[0170] The flowcharts and block diagrams in the accompanying drawings illustrate the system architecture, functionality, and operation of possible implementations of apparatuses, systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams may represent a module, program segment, or portion of instructions, which includes one or more executable instructions for implementing the specified logical function(s). In some alternative embodiments, the functions depicted in the blocks may occur in a different sequence than depicted in the accompanying drawings. For example, two consecutive blocks may in fact be executed substantially in parallel, or may even be executed in the reverse order, depending on the functionality involved.

[0171] Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by hardware (e.g., a circuit or an application-specific integrated circuit (ASIC)) that performs the corresponding function or operation, or may be implemented by a combination of hardware and software, e.g., firmware.

[0172] Although the present application has been described with reference to embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by studying the accompanying drawings, the disclosed content, and the appended claims. In the claims, "comprising" does not exclude other elements or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit may implement several functions recited in the claims. Although different means are recited in dependent claims, this does not mean that these means cannot be combined to produce better effects.

[0173] The embodiments of the present application have been described above. The above description is illustrative, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The choice of terminology used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to market technology, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An optical projection device, comprising: an information acquisition module, a processing module, a projection module, and a transmission module, wherein the processing module is separately connected to the information acquisition module and the projection module; The information acquisition module: configured to acquire environmental information and status information of a first object, wherein the first object includes at least one of a vehicle or a pedestrian, and the status information of the first object includes at least one of position information or movement information of the first object; The processing module includes: determining, based on the status information, that the first object is a potentially dangerous object; determining a potentially dangerous area of the first object; determining a projection target area based on the potentially dangerous area and the environmental information, wherein the projection target area is an area where no light projection is present and where light projection is permitted; configured to determine whether the projection target area is within a projection range of the projection module; The projection module includes: configured to project light within the projection target area to alert the user to a potential danger posed by the first object in response to the processing module determining that the projection target area is within the projection range of the projection module; The transmitting module: configured to, in response to the processing module determining that the projection target area is not within the projection range of the projection module, transmit information indicating that the first object is the potentially dangerous object and the projection target area to another device; the processing module is further configured to determine a potentially dangerous scenario of the first object and generate a projection image and light control information, the projection image being generated based on the environmental information and the potentially dangerous scenario, and when multiple objects are associated with the potentially dangerous scenario of the first object, the projection image being generated separately for each object; the projection module is further configured to perform light projection within the projection target area based on the projection image and the light control information; light projection device.

2. the first object is a plurality of objects; the processing module is further configured to determine a projection sequence of the plurality of objects based on a potential hazard of each of the plurality of objects; The projection module is configured to project light within the projection target area, the projection module is configured to perform a plurality of light projections in one-to-one correspondence with the plurality of objects according to the projection sequence; 10. The apparatus of claim 1.

3. The light control information is determined based on the environmental information, the projection image, and the projection target area, and the light control information includes at least one of an angle, brightness, or color of light.

3. The device according to claim 1 or 2.

4. The light projection device is applied to a vehicle or roadside infrastructure.

4. An apparatus according to any one of claims 1 to 3.

5. 1. A light projection method, the method comprising: acquiring environmental information and status information of a first object, the first object including at least one of a vehicle or a pedestrian, and the status information of the first object including at least one of position information or movement information of the first object; determining, based on the status information, that the first object is a potentially dangerous object; determining a potentially dangerous area of the first object; determining a projection target area based on the potentially dangerous area and the environmental information, the projection target area being an area where no light projection is present and where light projection is permitted; determining whether the projection target area is within a projection range of an optical projection device; When the projection target area is within the projection range of the light projection device, projecting light within the projection target area to alert the user to a potential danger posed by the first object; transmitting information indicating that the first object is the potentially dangerous object and the projection target area to another device when the projection target area is not within the projection range of the light projection device; The method includes: determining a potentially dangerous scenario of the first object; generating a projection image and light control information, wherein the projection image is generated based on the environmental information and the potentially dangerous scenario, and when multiple objects are associated with the potentially dangerous scenario of the first object, the projection image is generated separately for each object; The method, wherein performing light projection within the projection target area includes performing light projection within the projection target area based on the projection image and the light control information.

6. the first object is a plurality of objects; The method comprises: determining a projection sequence of the plurality of objects based on a potential danger level of each of the plurality of objects; Projecting light within the projection target area includes: performing a plurality of light projections in one-to-one correspondence with the plurality of objects according to the projection sequence; The method of claim 5.

7. The light control information is determined based on the environmental information, the projection image, and the projection target area, and the light control information includes at least one of an angle, brightness, or color of light.

7. The method according to claim 5 or 6.

8. The light projection device is applied to a vehicle or roadside infrastructure.

8. The method according to any one of claims 5 to 7.

9. 1. A light projection device, comprising: a processor; a memory configured to store instructions executable by the processor; 9. An optical projection device comprising: a processor configured to execute the instructions, the processor implementing the method of any one of claims 5 to 8.

10. 9. A computer readable storage medium storing computer program instructions that, when executed by a processor, implement the method of any one of claims 5 to 8.

11. A computer program comprising computer instructions, which when executed by a processor implements the method of any one of claims 5 to 8.

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