Vehicle, vehicle control method, and intelligent driving control unit

Abstract

A vehicle, a vehicle control method, and an intelligent driving control unit. The vehicle (100, 300) comprises at least one sensor (310), an intelligent driving control unit (320), and a drive projection device (330). The output end of the at least one sensor is coupled to the input end of the intelligent driving control unit, and a first output end of the intelligent driving control unit is coupled to a first input end of the drive projection device. The at least one sensor generates external environment data on the basis of the external environment of the vehicle, and sends the external environment data to the intelligent driving control unit; the intelligent driving control unit generates projected image data on the basis of the external environment data, and sends the projected image data to the drive projection device; the drive projection device outputs a projected image on the basis of the projected image data. The vehicle solves the problems of complex link topology, long data transmission links and high data transmission delay of intelligent headlamps in vehicles.

Description

Vehicle, vehicle control method and intelligent driving control unit

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on July 25, 2023, with application number 202310923436.7 and application name “A Vehicle, Vehicle Control Method and Intelligent Driving Control Unit”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent vehicle technology, and in particular to a vehicle, a vehicle control method, and an intelligent driving control unit. Background Art

[0003] As vehicles continue to evolve toward electrification, intelligence, connectivity, and sharing, the user experience is constantly improving. Specifically, vehicles can include smart headlights that can provide safety lighting, intelligent driving assistance, and interactive entertainment functions, thereby enhancing the user's driving experience.

[0004] However, the link topology of smart headlights in vehicles is currently complex, the data transmission link is long, and the data transmission delay is high.

[0005] Summary of the Invention

[0006] The present application provides a vehicle, a vehicle control method, and an intelligent driving control unit, which solve the problems of complex link topology, long data transmission link, and high data transmission delay of current intelligent headlights in vehicles.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In a first aspect, the present application provides a vehicle comprising at least one sensor, an intelligent driving control unit, and a drive projection device. The output of the at least one sensor is coupled to the input of the intelligent driving control unit, and a first output of the intelligent driving control unit is coupled to a first input of the drive projection device. The at least one sensor generates external environment data based on the vehicle's external environment and transmits the external environment data to the intelligent driving control unit. The intelligent driving control unit generates projection image data based on the external environment data and transmits the projection image data to the drive projection device. The drive projection device outputs a projection image based on the projection image data.

[0009] Optionally, the vehicle may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. The vehicle is a vehicle in a broad sense. For example, the vehicle may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, an airplane, a ship, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The present application does not specifically limit the type of vehicle. Optionally, the projected image can be used to achieve lighting enhancement, assisted driving, light carpets, and multimedia, etc. The specific functions that the projected image can achieve can refer to the existing technology, and the present application does not limit this.

[0010] Based on this solution, external environment data is generated by at least one sensor, and the intelligent driving control unit generates projection image data according to the external environment data and sends it to the driving projection device, so that the driving projection device outputs the projection image according to the projection image data. Compared with the prior art vehicle, the external environment of the vehicle is photographed by a camera to generate an external environment image, the CDC generates projection image data according to the external environment image, and sends the projection image data to the SoC in the HCM, and the SoC transmits the projection image data to the left DMD and the right DMD through a serializer, so that the left DMD and the right DMD output the projection image according to the projection image data. The link topology is simpler, the data transmission link is shorter, and the data transmission delay can be reduced.

[0011] In combination with the first aspect, in a possible implementation, the vehicle further includes a vehicle control unit, which controls and drives the projection device to output a projection image according to the projection image data.

[0012] In conjunction with the first aspect, in one possible implementation, an input terminal of the vehicle control unit is coupled to a second output terminal of the intelligent driving control unit, and an output terminal of the vehicle control unit is coupled to a second input terminal of a projection device. The intelligent driving control unit further outputs a first control signal, and the vehicle control unit outputs a second control signal based on the first control signal. The second control signal controls the projection device to output a projection image based on projection image data.

[0013] In conjunction with the first aspect, in one possible implementation, the intelligent driving control unit includes a system-on-chip (SoC) and a microprocessor. The input of the SoC is coupled to the input of the intelligent driving control unit, the output of the SoC is coupled to the first output of the intelligent driving control unit, and the output of the microprocessor is coupled to the second output of the intelligent driving control unit. The SoC generates projection image data based on external environment data. The microprocessor outputs a third control signal, which controls the projection device to output a projection image based on the projection image data.

[0014] Based on this solution, the vehicle control unit can control the projection device to output the projection image based on the projection image data, or the intelligent driving control unit can control the projection device to output the projection image based on the projection image data, providing a more flexible control scheme. Moreover, if the vehicle control unit fails, the intelligent driving control unit can control the projection device to output the projection image, thereby improving reliability.

[0015] In conjunction with the first aspect, in one possible implementation, a projection device includes a driving circuit and a projection circuit, wherein an output terminal of the driving circuit is coupled to an input terminal of the projection circuit. The driving circuit receives a control signal and generates a driving signal based on the control signal. Driven by the driving signal, the projection circuit outputs a projected image based on projection image data.

[0016] In combination with the first aspect, in a possible implementation, the projection circuit includes a headlight of a vehicle.

[0017] In conjunction with the first aspect, in one possible implementation, the vehicle further includes multiple controller area network buses, each coupled to the second output terminal of the intelligent driving control unit. The intelligent driving control unit further receives a driving signal, generates a driving control signal based on the driving signal, and transmits the driving control signal via the multiple controller area network buses to control the vehicle.

[0018] In combination with the first aspect, in a possible implementation, the multiple controller area network buses include a chassis controller area network bus, a chassis redundant controller area network bus, and a power controller area network bus.

[0019] In combination with the first aspect, in a possible implementation, the at least one sensor includes at least one of a camera, a microwave radar, and a lidar.

[0020] A second aspect of the present application provides a vehicle control method, the vehicle comprising at least one sensor, an intelligent driving control unit, and a drive projection device, wherein the output of the at least one sensor is coupled to the input of the intelligent driving control unit, and the first output of the intelligent driving control unit is coupled to the first input of the drive projection device. The method comprises: the at least one sensor generates external environment data based on the external environment of the vehicle and transmits the external environment data to the intelligent driving control unit. The intelligent driving control unit generates projection image data based on the external environment data and transmits the projection image data to the drive projection device. The drive projection device outputs a projection image based on the projection image data.

[0021] In combination with the second aspect, in a possible implementation, the vehicle further includes a vehicle control unit, and driving the projection device to output the projection image according to the projection image data includes: driving the projection device to output the projection image according to the projection image data under the control of the vehicle control unit.

[0022] In combination with the second aspect, in one possible implementation, the input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The method also includes: the intelligent driving control unit outputs a first control signal, the vehicle control unit outputs a second control signal based on the first control signal, and the second control signal controls the driving projection device to output a projection image based on the projection image data.

[0023] In conjunction with the second aspect, in one possible implementation, the intelligent driving control unit includes a system-on-chip (SoC) and a microprocessor, wherein an input of the SoC is coupled to an input of the intelligent driving control unit, an output of the SoC is coupled to a first output of the intelligent driving control unit, and an output of the microprocessor is coupled to a second output of the intelligent driving control unit. The intelligent driving control unit generating projection image data based on external environmental data includes: the SoC generating the projection image data based on the external environmental data; and driving the projection device to output the projection image based on the projection image data includes: driving the projection device to output the projection image based on the projection image data under control of a third control signal output by the microprocessor.

[0024] In combination with the second aspect, in one possible implementation, the projection device is driven to include a driving circuit and a projection circuit, and the output end of the driving circuit is coupled to the input end of the projection circuit. The above-mentioned projection device is driven to output a projection image according to the projection image data, including: the driving circuit receives a control signal, generates a driving signal according to the control signal, and the projection circuit is driven by the driving signal to output a projection image according to the projection image data.

[0025] In combination with the second aspect, in one possible implementation, the vehicle further includes multiple controller area network buses, which are coupled to the second output end of the intelligent driving control unit. The method further includes: when a failure occurs in the vehicle control unit, the intelligent driving control unit receives a driving signal, generates a driving control signal based on the driving signal, and sends the driving control signal through multiple controller area network buses to control the vehicle.

[0026] A third aspect of the present application provides an intelligent driving control unit, wherein an input end of the intelligent driving control unit is coupled to an output end of at least one sensor, and a first output end of the intelligent driving control unit is coupled to a first input end of a driving projection device. The intelligent driving control unit: receives external environment data, the external environment data is generated by at least one sensor according to the external environment of the vehicle, determines projection image data based on the external environment data, and sends the projection image data to the driving projection device, so that the driving projection device outputs a projection image according to the projection image data.

[0027] In conjunction with the third aspect, in one possible implementation, a second output terminal of the intelligent driving control unit is coupled to an input terminal of the vehicle control unit, and an output terminal of the vehicle control unit is coupled to a second input terminal of a projection device. The intelligent driving control unit further outputs a first control signal, which controls the vehicle control unit to output a second control signal, and the second control signal controls the projection device to output a projection image based on the projection image data.

[0028] In conjunction with the third aspect, in one possible implementation, the intelligent driving control unit includes a system-on-chip (SoC) and a microprocessor. An input terminal of the SoC is coupled to a first input terminal of the intelligent driving control unit, an output terminal of the SoC is coupled to a first output terminal of the intelligent driving control unit, and an output terminal of the microprocessor is coupled to a second output terminal of the intelligent driving control unit. The SoC generates projection image data based on external environment data, and the microprocessor outputs a third control signal. The third control signal controls and drives the projection device to output a projection image based on the projection image data.

[0029] In conjunction with the third aspect, in one possible implementation, the second output terminal of the intelligent driving control unit is coupled to multiple controller area network buses. The intelligent driving control unit further receives the driving signal, generates a driving control signal based on the driving signal, and transmits the driving control signal via the multiple controller area network buses to control the vehicle.

[0030] A fourth aspect of the present application provides an intelligent driving control method, which can be applied to an intelligent driving control unit. The intelligent driving control unit has an input coupled to an output of at least one sensor, and a first output coupled to a first input of a projection drive. The method includes receiving external environment data, the external environment data being generated by at least one sensor based on an external environment of the vehicle. Based on the external environment data, projected image data is determined, and the projected image data is transmitted to the projection drive, causing the projection drive to output a projection image based on the projected image data.

[0031] In combination with the fourth aspect, in one possible implementation, the second output end of the intelligent driving control unit is coupled to the input end of the vehicle control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The method also includes: outputting a first control signal, the first control signal controls the vehicle control unit to output a second control signal, and the second control signal controls the driving projection device to output a projection image according to the projection image data.

[0032] In conjunction with the fourth aspect, in one possible implementation, the intelligent driving control unit includes a system-on-chip (SoC) and a microprocessor, wherein the input of the SoC is coupled to a first input of the intelligent driving control unit, the output of the SoC is coupled to a first output of the intelligent driving control unit, and the output of the microprocessor is coupled to a second output of the intelligent driving control unit. Determining the projection image data based on the external environmental data includes: the SoC generating the projection image data based on the external environmental data. The method further includes: the microprocessor outputting a third control signal, wherein the third control signal controls the projection device to output the projection image based on the projection image data.

[0033] In combination with the fourth aspect, in one possible implementation, the second output end of the intelligent driving control unit is coupled to multiple controller area network buses, and the method also includes: receiving a driving signal, generating a driving control signal based on the driving signal, and sending the driving control signal through multiple controller area network buses to control the vehicle.

[0034] The descriptions of the second to fourth aspects of this application can refer to the detailed description of the first aspect; and the beneficial effects described in the second to fourth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic structural diagram of a vehicle;

[0036] Figure 2 is a schematic structural diagram of another vehicle;

[0037] FIG3 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0038] FIG4 is a schematic diagram of a vehicle projection image provided by an embodiment of the present application;

[0039] FIG5 is a schematic structural diagram of another vehicle provided in an embodiment of the present application;

[0040] FIG6 is a schematic structural diagram of another vehicle provided in an embodiment of the present application;

[0041] FIG7 is a schematic structural diagram of another vehicle provided in an embodiment of the present application;

[0042] FIG8 is a schematic structural diagram of another vehicle provided in an embodiment of the present application;

[0043] FIG9 is a schematic structural diagram of another vehicle provided in an embodiment of the present application;

[0044] FIG10 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0045] FIG11 is a flow chart of another vehicle control method provided in an embodiment of the present application;

[0046] FIG12 is a schematic flow chart of an intelligent driving control method provided in an embodiment of the present application;

[0047] FIG13 is a flow chart of another intelligent driving control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following sections discuss the making and use of various embodiments in detail. However, it should be understood that many applicable inventive concepts provided herein can be implemented in a variety of specific contexts. The specific embodiments discussed are intended merely to illustrate specific ways to implement and use the present description and technology and are not intended to limit the scope of this application.

[0049] Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art.

[0050] Various circuits or other components may be described or referred to as being "configured to" perform one or more tasks. In this case, "configured to" is used to imply structure by indicating that the circuit / component includes structure (e.g., circuitry) that performs the one or more tasks during operation. Thus, even when a specified circuit / component is not currently operational (e.g., not turned on), the circuit / component may be referred to as being configured to perform the task. Circuits / components used with the phrase "configured to" include hardware, such as circuitry that performs an operation, etc.

[0051] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. In the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c or a, b and c, where a, b and c can be single or multiple. In addition, in the embodiments of the present application, words such as "first" and "second" do not limit the quantity and order.

[0052] In this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0053] Before introducing the embodiments of the present application, the technical terms and background technologies involved in the present application are first introduced.

[0054] A headlamp control module (HCM) is an electronic device that controls a vehicle's headlights. Based on vehicle speed, engine status, steering wheel rotation, and signals from other vehicle sensors, the HCM controls the on / off and brightness of the headlights to provide appropriate lighting conditions.

[0055] Light emitting diode driver module (LDM): Used to provide current / voltage to illuminate the LED. It can also adjust the brightness, color temperature, color and other parameters of the LED to meet different lighting needs.

[0056] Digital micromirror device (DMD): A micro-electromechanical system with electronic input and optical output, also known as a projection module, used to output projected images.

[0057] CAN with flexible data rate (CAN FD): is an extension protocol based on the Controller Area Network (CAN) bus that increases data length, speed, and reliability and allows a smooth transition to higher-speed networks.

[0058] Automotive Ethernet: A physical network used to connect various electrical devices in a vehicle.

[0059] Cockpit domain controller (CDC): A critical component of smart vehicles, CDC manages and coordinates onboard devices, such as microphones and speakers, to enable cockpit entertainment and provide users with a more comfortable, convenient, and safer driving experience.

[0060] System-on-chip (SoC): An integrated circuit that integrates multiple functions on a single chip, including multiple processors, memories, interfaces, and other functional modules.

[0061] Gyroscope: A sensor used to measure angular velocity and angular displacement, commonly used in aerospace, automotive, and gaming.

[0062] Microcontroller unit (MCU): A single-chip system that integrates a microcontroller, memory, input / output interface and other functions. It can also be called a microprocessor.

[0063] Serializer / Deserializer (SerDes): An interface circuit for high-speed data communication.

[0064] KL15 (klemme15): is the engine ignition signal, where klemme can be understood as a pin.

[0065] Level 3: Level 3 autonomous driving means that the vehicle can automatically complete driving operations, surrounding environment monitoring and other actions in a specific environment, and does not require the driver to operate it himself. However, during the vehicle's autonomous driving process, the driver needs to stay focused and be ready to take over the vehicle at any time to deal with situations that the autonomous driving system cannot handle.

[0066] Intelligent Driving Control Unit: It is one of the core components of intelligent driving. The intelligent driving control unit can perform real-time environmental modeling based on sensor fusion information, plan and generate vehicle motion paths, and control the vehicle to automatically move to the corresponding position without collision.

[0067] Radio detection and ranging (radar): also known as radar, or microwave radar.

[0068] An inertial measurement unit (IMU) is a device that measures an object's three-axis attitude angle and acceleration. Typically, an IMU includes a three-axis gyroscope and a three-axis accelerometer, and some also include a three-axis magnetometer.

[0069] Vehicle Control Unit (VCU): The core unit of vehicle control, responsible for monitoring the vehicle's status and the driver's instructions, and adjusting various vehicle parameters such as speed, acceleration, braking, and steering based on this information to ensure stable, safe, and efficient vehicle operation. The VCU is also responsible for managing and optimizing the vehicle's energy flow, ensuring optimal efficiency and economy. Furthermore, the VCU provides fault diagnosis and safety protection functions, monitoring and diagnosing the vehicle's status in real time and taking appropriate measures to avoid or mitigate potential safety risks.

[0070] Network switching chip: used for network communication of vehicle components.

[0071] Chassis Controller Area Network Bus: Also known as the chassis CAN bus, the chassis controller area network bus is a communication bus in the vehicle's electronic control system, used to transmit data and instructions to the chassis control module.

[0072] Chassis Redundant Controller Area Network Bus: Also known as a chassis redundant CAN bus, a chassis redundant Controller Area Network Bus is another type of CAN bus used in vehicles. It is used to ensure that the vehicle's electronic control systems can still operate normally if the primary CAN bus fails.

[0073] Power Controller Area Network Bus: Also known as the Power CAN Bus, it is used to transmit data and instructions from control modules related to vehicle power, such as the engine, transmission, and brake system.

[0074] As vehicles continue to evolve towards electrification, intelligence, connectivity, and sharing, the user driving experience continues to improve. Specifically, vehicles can include smart headlights that can provide safety lighting, intelligent driving assistance, and interactive entertainment functions, thereby enhancing the user's driving experience.

[0075] FIG1 is a schematic diagram of the structure of a vehicle 100. The vehicle 100 includes a vehicle computer 110, an HCM 120, a left LDM 130, a right LDM 140, a left DMD 150, and a right DMD 160. The output of the vehicle computer 110 is coupled to the input of the HCM 120 via a CAN FD bus, a data signal line, and in-vehicle Ethernet. The output of the HCM 120 is coupled to the inputs of the left LDM 130 and the right LDM 140 via a CAN bus and a power enable signal line. The left LDM 130 is also coupled to a power source via a power line, and the output of the left LDM 130 is coupled to the input of the left DMD 150 via a power line and a power enable signal line. The right LDM 140 is also coupled to a power source via a power line, and the output of the right LDM 140 is coupled to the input of the right DMD 160 via a power line and a power enable signal line. The left DMD 150 and the right DMD 160 serve as intelligent headlights of the vehicle 100 , outputting projection images to achieve functions such as safety lighting, intelligent driving assistance, and entertainment interaction.

[0076] The vehicle computer 110 is used to facilitate information communication between a user and the vehicle 100, or between the vehicle 100 and the outside world. The HCM 120 generates a control signal and a power enable signal and transmits the control signal and the power enable signal to the left LDM 130 and the right LDM 140. Under the control of the control signal and the power enable signal, the left LDM 130 generates a first drive signal, which drives the left DMD 150 to output a projected image. Under the control of the control signal and the power enable signal, the right LDM 140 generates a second drive signal, which drives the right DMD 160 to output a projected image.

[0077] As shown in FIG2 , the vehicle 100 may further include a camera 170 disposed outside the vehicle 100, and the vehicle computer 110 may include a CDC 111. The output of the camera 170 is coupled to the input of the CDC 111, which in turn is coupled to the input of the HCM 120. The camera 170 is configured to capture the external environment of the vehicle 100 and generate an image of the external environment. The CDC 111 is configured to generate projection image data based on the image of the external environment and transmit the projection image data to the HCM 120.

[0078] Specifically, HCM 120 includes a SoC 121, a gyroscope 122, a deserializer 123, a serializer 124, an MCU 125, and a direct current-to-direct current (DC-DC) converter circuit 126. The output of deserializer 123 and the output of gyroscope 122 are coupled to the input of SoC 121, the output of SoC 121 is coupled to the input of serializer 124, and SoC 121 is also coupled to MCU 125. The input of DC-DC converter circuit 126 is coupled to the output of CDC 111, and is configured to receive the KL15 signal and power supply voltage output by CDC 111, and perform voltage conversion on the power supply voltage to supply power to various components in HCM 120.

[0079] The CDC 111 includes a serializer 1111. The CDC 111 is coupled to the SoC 121 in the HCM 120 via an Ethernet (ETH) port. The serializer 1111 in the CDC 111 is coupled to the deserializer 123 in the HCM 120 to transmit the projection image data to the SoC 121. The CDC 111 is also coupled to the MCU 125 in the HCM 120 via a CAN bus to transmit control signals to the MCU 125. The MCU 125 can then transmit control signals to the left LDM 130 and the right LDM 140 based on the control signals.

[0080] The left LDM 130 includes an MCU 131 and a DC-DC converter circuit 132, and the right LDM 140 includes an MCU 141 and a DC-DC converter circuit 142. The MCU 125 in the HCM 120 is coupled to the MCUs 131 and 141 via a CAN bus to send control signals to the MCUs 131 and 141. The MCU 125 in the HCM 120 is also coupled to the DC-DC converter circuits 132 and 142 via a general-purpose input / output (GPIO) interface to send power enable signals to the DC-DC converter circuits 132 and 142. The DC-DC converter circuits 132 and 142 are also coupled to a power source via power lines for voltage conversion to supply power to the various components in the left LDM 130 and the right LDM 140.

[0081] The left DMD 150 includes a serializer 151, a controller 152, a projection module 153, and a DC-DC converter circuit 154. The output of the serializer 151 is coupled to the input of the controller 152, and the output of the controller 152 is coupled to the input of the projection module 153. The output of the MCU 131 in the left LDM 130 is coupled to the input of the controller 152 via an inter-integrated circuit (I2C) bus or a serial peripheral interface (SPI) bus to send control signals to the controller 152. The output of the serializer 124 in the HCM 120 is coupled to the serializer 151 in the left DMD 150 to send projection image data to the left DMD 150, so that the projection module 153 outputs a projection image based on the projection image data. The DC-DC converter circuit 154 is coupled to the MCU 131 in the left LDM 130 via a power enable signal line to receive a power enable signal from the MCU 131. The DC-DC converter circuit 154 is also coupled to the power supply via a power line to perform voltage conversion to supply power to various devices in the left DMD 150.

[0082] The right DMD 160 includes a serializer 161, a controller 162, a projection module 163, and a DC-DC converter circuit 164. The output of the serializer 161 is coupled to the input of the controller 162, which in turn is coupled to the input of the projection module 163. The output of the MCU 141 in the right LDM 140 is coupled to the input of the controller 162 via an I2C bus or an SPI bus to transmit control signals to the controller 162. The output of the serializer 124 in the HCM 120 is coupled to the serializer 161 in the right DMD 160 to transmit projection image data to the right DMD 160, causing the projection module 163 to output a projection image based on the projection image data. The DC-DC converter circuit 164 is coupled to the MCU 141 in the right LDM 140 via a power enable signal line to receive a power enable signal from the MCU 141. The DC-DC converter circuit 164 is also coupled to the power supply via a power line to perform voltage conversion to supply power to various devices in the right DMD 160.

[0083] As can be understood, the camera 170 captures the external environment of the vehicle 100 and generates an external environment image. The CDC 111 can generate projection image data based on the external environment image and send the projection image data to the SoC 121 in the HCM 120. The SoC 121 transmits the projection image data to the left DMD 150 and the right DMD 160 via the serializer 124, so that the left DMD 150 and the right DMD 160 output projection images based on the projection image data, thereby realizing functions such as safety lighting, intelligent driving assistance, and entertainment interaction. However, in this vehicle 100, the topology of the link between the camera 170 and the left DMD 150 and the right DMD 160 is relatively complex, and the data transmission link is long. When generating projection image data based on the external environment image and transmitting it to the left DMD 150 and the right DMD 160 for outputting the projection image, the data transmission latency is relatively high. Moreover, the detection function of camera 170 is single, and the data processing capabilities of CDC 111 and HCM 120 are weak. Therefore, it can only realize simple functions, such as brightness adjustment, illumination angle, distance, intelligent high beam, headlight fault detection, etc. It cannot achieve L3 level and above high-level autonomous driving, and the user experience is poor.

[0084] In order to solve the problems of complex link topology, long data transmission link and high data transmission delay of smart headlights in current vehicles, an embodiment of the present application provides a vehicle with a short data transmission link, which can reduce the data transmission delay, realize high-level autonomous driving, and improve user experience.

[0085] Optionally, the vehicle may include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. The vehicle is a vehicle in a broad sense, for example, the vehicle may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, an air vehicle, a train, an airplane, a ship, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a lawn mower, a harvester, etc.), an amusement device, a toy vehicle, etc. The embodiment of the present application does not specifically limit the type of vehicle.

[0086] As shown in Figure 3, a vehicle 300 provided in an embodiment of the present application includes at least one sensor 310, an intelligent driving control unit 320 and a drive projection device 330. The output end of at least one sensor 310 is coupled to the input end of the intelligent driving control unit 320, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the drive projection device 330.

[0087] At least one sensor 310 generates external environment data based on the external environment of the vehicle 300 and transmits the external environment data to the intelligent driving control unit 320. The intelligent driving control unit 320 generates projection image data based on the external environment data and transmits the projection image data to the projection drive device 330. The projection drive device 330 outputs a projection image based on the projection image data.

[0088] Optionally, the at least one sensor 310 includes at least one of a camera, a microwave radar, and a light detection and ranging (Lidar), which is not limited in the embodiment of the present application.

[0089] Optionally, the projected image can be used to achieve lighting enhancement, assisted driving, light carpet and multimedia, etc. The specific functions that can be achieved by the projected image can refer to the existing technology, and the embodiments of the present application are not limited to this.

[0090] For example, taking the use of projection images to achieve assisted driving as an example, at least one sensor 310 can generate external environment data based on the external environment of the vehicle 300. The external environment data may include the size and width of obstacles on the road, and the distance between the obstacles and the vehicle 300. The intelligent driving control unit 320 can generate projection image data based on the external environment data, and the driving projection device 330 can output a projection image as shown in Figure 4 based on the projection image data. The projection image is used to indicate that the driver can pass normally, thereby achieving assisted driving.

[0091] As shown in Figure 5, in a possible embodiment, the intelligent driving control unit 320 may include a system-level chip 321 and a microprocessor 322, the input end of the system-level chip 321 is coupled to the input end of the intelligent driving control unit 320, the output end of the system-level chip 321 is coupled to the first output end of the intelligent driving control unit 320, the output end of the microprocessor 322 is coupled to the second output end of the intelligent driving control unit 320, and the second output end of the intelligent driving control unit 320 is coupled to the second input end of the driving projection device 330.

[0092] The system-on-chip 321, also known as an SoC, generates projection image data based on external environment data. The microprocessor 322, also known as an MCU, outputs a third control signal for controlling the projection device 330 to output a projection image based on the projection image data.

[0093] As shown in Figure 5, in a possible embodiment, the intelligent driving control unit 320 may further include a DC-DC conversion circuit 323, a serializer 324, and an IMU 325. The DC-DC conversion circuit 323 is coupled to the power supply through a power line. The DC-DC conversion circuit 323 is used to perform voltage conversion and is also used to receive the KL15 signal to power the various devices in the intelligent driving control unit 320. The input end of the serializer 324 is coupled to the output end of the system-level chip 321, and the output end of the serializer 324 is coupled to the first output end of the intelligent driving control unit 320. The IMU 325 is coupled to the microprocessor 322 for detecting the three-axis attitude angle and acceleration of the vehicle 300.

[0094] As shown in Figure 5, in one possible embodiment, the projection device 330 includes a driving circuit 331 and a projection circuit 332. The output of the driving circuit 331 is coupled to the first input of the projection circuit 332, the second input of the projection circuit 332 is coupled to the first input of the projection device 330, and the input of the driving circuit 331 is coupled to the second input of the projection device 330. The driving circuit 331 receives a control signal from the intelligent driving control unit 320 and generates a driving signal based on the control signal. Driven by the driving signal, the projection circuit 332 outputs a projected image based on the projection image data.

[0095] In one possible embodiment, the projection circuit 332 includes a headlight of the vehicle 300 .

[0096] Optionally, the projection driving device 330 may include one driving circuit 331 and one projection circuit 332 , or may include multiple driving circuits 331 and multiple projection circuits 332 , where each driving circuit 331 is used to drive one projection circuit 332 .

[0097] For example, as shown in Figure 6, taking the driving projection device 330 including two driving circuits 331 and two projection circuits 332 as an example, the two driving circuits 331 can be a left driving circuit 331 and a right driving circuit 331 respectively, and the two projection circuits 332 can be a left projection circuit 332 and a right projection circuit 332 respectively.

[0098] In one possible embodiment, as shown in FIG6 , each drive circuit 331 may include an MCU 3311 and a DC-DC converter circuit 3312. The input terminal of the MCU 3311 is coupled to the input terminal of the corresponding drive circuit 331. The input terminal of the DC-DC converter circuit 3312 is coupled to the microprocessor 322 in the intelligent driving control unit 320 via a power enable signal line to receive a power enable signal. The DC-DC converter circuit 3312 is also coupled to the power supply via a power line. The DC-DC converter circuit 3312 is used to perform voltage conversion to supply power to the MCU 3311 in the drive circuit 331.

[0099] Each projection circuit 332 may include a serializer 3321, a DMD controller 3322, a projection module 3323, and a DC-DC converter circuit 3324. The input of the serializer 3321 is coupled to a first input of the projection circuit 332 to receive projection image data. The output of the serializer 3321 is coupled to an input of the DMD controller 3322, and the output of the DMD controller 3322 is coupled to an input of the projection module 3323, so that the projection module 3323 outputs a projection image based on the projection image data. The input of the DC-DC converter circuit 3324 is coupled to the MCU 3311 in the driver circuit 331 via a power enable signal line to receive a power enable signal. The DC-DC converter circuit 3324 is also coupled to a power source via a power line. The DC-DC converter circuit 3324 performs voltage conversion to supply power to the various components in the projection circuit 332.

[0100] The vehicle 300 provided in the embodiment of the present application generates external environment data through at least one sensor 310. The intelligent driving control unit 320 generates projection image data based on the external environment data and transmits it to the driving projection device 330, so that the driving projection device 330 outputs a projection image based on the projection image data. Compared with the link topology in the aforementioned vehicle 200, the link topology is simpler, the data transmission link is shorter, and the data transmission latency can be reduced. Moreover, the at least one sensor 310 includes multiple types of sensors, and the intelligent driving control unit 320 has stronger data processing capabilities, thereby achieving high-level autonomous driving and improving the user experience.

[0101] In a possible embodiment, as shown in FIG7 , the vehicle 300 further includes a vehicle control unit 340 , which is configured to control and drive the projection device 330 to output a projection image according to projection image data.

[0102] Specifically, the input terminal of the vehicle control unit 340 is coupled to the second output terminal of the intelligent driving control unit 320, and the output terminal of the vehicle control unit 340 is coupled to the second input terminal of the driving projection device 330. The intelligent driving control unit 320 also outputs a first control signal, and the vehicle control unit 340 outputs a second control signal based on the first control signal. The second control signal is used to control the driving projection device 330 to output a projection image based on the projection image data.

[0103] It is understood that the vehicle 300 provided in the embodiment of the present application can output a third control signal through the microprocessor 322, and drive the projection device 330 to output a projection image according to the projection image data under the control of the third control signal. Alternatively, the intelligent driving control unit 320 can output a first control signal, and the vehicle control unit 340 can output a second control signal based on the first control signal, and drive the projection device 330 to output a projection image according to the projection image data under the control of the second control signal. The embodiment of the present application does not limit the specific method used to control the projection device 330 to output the projection image.

[0104] Optionally, the vehicle 300 may include one vehicle control unit 340 , or may include multiple vehicle control units 340 , which is not limited in this embodiment of the present application.

[0105] Optionally, when the vehicle 300 includes multiple vehicle control units 340, the multiple vehicle control units 340 may be in a star topology structure, or may be in a ring topology structure, which is not limited in this embodiment of the present application.

[0106] For example, taking the vehicle 300 including four vehicle control units 340 as an example, the four vehicle control units 340 may be in a star topology structure as shown in FIG. 7 .

[0107] In a possible embodiment, as shown in Figure 7, the second output end of the intelligent driving control unit 320 and the output end of the vehicle control unit 340 can be coupled to the second input end of the driving projection device 330 through the first selection switch 350, so that the first selection switch 350 can be used to select the intelligent driving control unit 320 to control the driving projection device 330 to output the projection image, or to select the vehicle control unit 340 to control the driving projection device 330 to output the projection image.

[0108] In a possible embodiment, as shown in Figure 7, the intelligent driving control unit 320 and the vehicle control unit 340 can be coupled to the DC-DC conversion circuit 3312 in the driving circuit 331 through the second selection switch 360 and the power enable signal line, so that the second selection switch 360 can be used to select the intelligent driving control unit 320 to output the power enable signal, or the vehicle control unit 340 to output the power enable signal to control the DC-DC conversion circuit 3312 to supply power to the devices in the driving circuit 331, so that the driving circuit 331 can generate and send a driving signal to the projection circuit 332.

[0109] As can be appreciated, the first selection switch 350 and the second selection switch 360 allow for a selection of the method for controlling the projection device 330 to output the projected image, providing a more flexible control scheme. Furthermore, if the vehicle control unit 340 fails, the intelligent driving control unit 320 can be used to control the projection device 330 to output the projected image, thereby improving reliability.

[0110] In one possible embodiment, as shown in FIG7 , the vehicle 300 further includes a CDC 370, at least one in-vehicle sensor 380, and a display device 390. The output of the at least one in-vehicle sensor 380 is coupled to the input of the CDC 370, and the output of the CDC 370 is coupled to the input of the display device 390. The CDC 370 is also coupled to the intelligent driving control unit 320 and the vehicle control unit 340.

[0111] Among them, at least one in-vehicle sensor 380 is used to generate internal environment data based on the internal environment of the vehicle and send it to the CDC 370. The CDC 370 sends the internal environment data to the intelligent driving control unit 320. The intelligent driving control unit 320 also generates the above-mentioned projection image data based on the internal environment data and external environment data to achieve high-level autonomous driving and improve user experience.

[0112] Optionally, the at least one in-vehicle sensor 380 includes at least one of a vehicle speed sensor, an engine speed sensor, an in-vehicle monitoring sensor, and an oil level sensor.

[0113] Specifically, CDC 370 may include a SoC 371, an MCU 372, a network switching chip 373, and a DC-DC converter circuit 374. One end of SoC 371 is coupled to one end of MCU 372, and the other end of SoC 371 is coupled to one end of network switching chip 373. MCU 372 is coupled to network switching chip 373. MCU 372 in CDC 370 may be coupled to microprocessor 322 in intelligent driving control unit 320 via a CAN bus. DC-DC converter circuit 374 is coupled to a power source via a power line and performs voltage conversion to supply power to various components in CDC 370.

[0114] The intelligent driving control unit 320 also includes a network switch chip 326, which is coupled to the system-on-chip 321 and microprocessor 322 in the intelligent driving control unit. The vehicle control unit 340 includes an MCU 341, a network switch chip 342, and a DC-DC converter circuit 343. The MCU 341 is coupled to the network switch chip 342, which is coupled to the network switch chip 326 in the intelligent driving control unit 320 and the network switch chip 373 in the CDC 370. The DC-DC converter circuit 343 is coupled to a power source via a power line and performs voltage conversion to supply power to various components in the vehicle control unit 340.

[0115] In a possible embodiment, the CDC 370 and the intelligent driving control unit 320 may be integrated together.

[0116] In the vehicle 300 provided in the embodiment of the present application, the vehicle control unit 340 can control the projection device 330 to output a projection image based on the projection image data, or the intelligent driving control unit 320 can control the projection device 330 to output a projection image based on the projection image data, providing a more flexible control scheme. Furthermore, if the vehicle control unit 340 fails, the intelligent driving control unit 320 can control the projection device 330 to output the projection image, thereby improving reliability.

[0117] As shown in FIG8 , in one possible embodiment, vehicle 300 further includes multiple CAN buses 3100 , which are coupled to the second output terminal of intelligent driving control unit 320 . Intelligent driving control unit 320 also receives driving signals, generates driving control signals based on the driving signals, and transmits the driving control signals via multiple CAN buses 3100 to control vehicle 300 .

[0118] Optionally, the multiple controller area network buses include a chassis controller area network bus, a chassis redundant controller area network bus, and a power controller area network bus.

[0119] Optionally, the driving signal may include at least one of an accelerator pedal signal, a brake switch signal, and a collision signal, which is not limited in the embodiment of the present application.

[0120] Specifically, the microprocessor 322 in the intelligent driving control unit 320 can receive driving signals via a hardwire, generate driving control signals based on the driving signals, and send the driving control signals via multiple controller area network buses 3100 to control the vehicle 300. The vehicle control unit 340 can also be coupled to the multiple controller area network buses 3100. The vehicle control unit 340 can also receive driving signals via a hardwire and send driving control signals via multiple controller area network buses 3100 to control the vehicle 300. Therefore, if the vehicle control unit 340 fails, the microprocessor 322 in the intelligent driving control unit 320 can continue to control the vehicle 300, thereby improving the safety and reliability of the vehicle 300.

[0121] The vehicle 300 provided in the embodiment of the present application can control the vehicle 300 through the microprocessor 322 in the intelligent driving control unit 320, so that when the vehicle control unit 340 fails, the safety and reliability of the vehicle 300 can be improved.

[0122] As shown in Figure 9, in a possible embodiment, the first power input terminal of the vehicle control unit 340 is coupled to the power supply through a power line, the second power input terminal of the vehicle control unit 340 is coupled to the power output terminal of the intelligent driving control unit 320, the power output terminal of the vehicle control unit 340 is coupled to at least one component 3110 and the first power input terminal of the intelligent driving control unit 320, and the second power input terminal of the intelligent driving control unit 320 is coupled to the power supply through a power line.

[0123] The vehicle control unit 340 may further include a switch 344 . An input terminal of the switch 344 is coupled to a first power input terminal of the vehicle control unit 340 , a controlled terminal of the switch 344 is coupled to an output terminal of the MCU 341 , and an output terminal of the switch 344 is coupled to a power output terminal of the vehicle control unit 340 .

[0124] The intelligent driving control unit 320 also includes a power chip 327 and a switch 328. The first input end of the power chip 327 is coupled to the first power input end of the intelligent driving control unit 320, the input end of the switch 328 and the second input end of the power chip 327 are coupled to the second power input end of the intelligent driving control unit 320, the output end of the power chip 327 is coupled to the microprocessor 322, the microprocessor 322 is coupled to the controlled end of the switch 328, and the output end of the switch 328 is coupled to the power output end of the intelligent driving control unit 320.

[0125] The MCU 341 in the vehicle control unit 340 receives the KL15 signal and generates a control signal based on the KL15 signal. The switch 344 is used to control the power supply on and off under the control of the control signal to supply power to the at least one component 3110 and the intelligent driving control unit 320. When the intelligent driving control unit 320 determines that the vehicle control unit 340 has failed based on the received power supply signal, the microprocessor 322 can generate a control signal, and the switch 328 can turn on the power supply under the control of the control signal. The power signal can continue to supply power to the at least one component 3110 through the power output terminal of the intelligent driving control unit 320.

[0126] It can be understood that in the vehicle 300 provided in the embodiment of the present application, when the vehicle control unit 340 fails, the intelligent driving control unit 320 can continue to control the on and off of the power supply to supply power to at least one component 3110, thereby improving the reliability of the vehicle 300.

[0127] Optionally, at least one component 3110 includes a power component, a chassis, etc. of the vehicle 300, which is not limited in this embodiment of the present application.

[0128] As shown in Figure 10, it is a flow chart of a vehicle control method provided in an embodiment of the present application. The vehicle control method can be applied to the above-mentioned vehicle 300. The vehicle 300 includes at least one sensor 310, an intelligent driving control unit 320 and a drive projection device 330. The output end of at least one sensor 310 is coupled to the input end of the intelligent driving control unit 320, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the drive projection device 330. The method includes steps S1001-S1003.

[0129] S1001. At least one sensor 310 generates external environment data based on the external environment of the vehicle 300 and sends the external environment data to the intelligent driving control unit 320.

[0130] Optionally, the at least one sensor 310 includes at least one of a camera, a microwave radar, and a lidar, which is not limited in the embodiment of the present application.

[0131] S1002 : The intelligent driving control unit 320 generates projection image data according to the external environment data, and sends the projection image data to the driving projection device 330 .

[0132] S1003 : Drive the projection device 330 to output a projection image according to the projection image data.

[0133] Optionally, the projected image can be used to achieve lighting enhancement, assisted driving, light carpet and multimedia, etc. The specific functions that can be achieved by the projected image can refer to the existing technology, and the embodiments of the present application are not limited to this.

[0134] In a possible embodiment, the vehicle 300 further includes a vehicle control unit 340 , and driving the projection device 330 to output the projection image according to the projection image data includes: driving the projection device 330 to output the projection image according to the projection image data under the control of the vehicle control unit 340 .

[0135] Specifically, an input terminal of the vehicle control unit 340 is coupled to a second output terminal of the intelligent driving control unit 320, and an output terminal of the vehicle control unit 340 is coupled to a second input terminal of the projection device 330. The intelligent driving control unit 320 outputs a first control signal, and the vehicle control unit 340 outputs a second control signal based on the first control signal. The second control signal controls the projection device 330 to output a projection image based on the projection image data.

[0136] In a possible embodiment, the intelligent driving control unit 320 includes a system-level chip 321 and a microprocessor 322, the input end of the system-level chip 321 is coupled to the input end of the intelligent driving control unit 320, the output end of the system-level chip 321 is coupled to the first output end of the intelligent driving control unit 320, and the output end of the microprocessor 322 is coupled to the second output end of the intelligent driving control unit 320.

[0137] The above-mentioned intelligent driving control unit 320 generates projection image data according to external environment data, including: the system-level chip 321 generates projection image data according to external environment data.

[0138] Driving the projection device 330 to output the projection image according to the projection image data includes: driving the projection device 330 to output the projection image according to the projection image data under the control of the third control signal output by the microprocessor 322 .

[0139] The projection device 330 is driven and includes a driving circuit 331 and a projection circuit 332. The output end of the driving circuit 331 is coupled to the input end of the projection circuit 332. The above-mentioned projection device 330 is driven to output a projection image according to the projection image data, including: the driving circuit 331 receives a control signal and generates a driving signal according to the control signal. The projection circuit 332 is driven by the driving signal and outputs a projection image according to the projection image data.

[0140] The vehicle control method provided in the embodiment of the present application generates external environment data through at least one sensor 310. The intelligent driving control unit 320 generates projection image data based on the external environment data and transmits it to the driving projection device 330, so that the driving projection device 330 outputs a projection image based on the projection image data. Compared with the link topology in the aforementioned vehicle 200, the link topology is simpler, the data transmission link is shorter, and the data transmission latency can be reduced. Moreover, the at least one sensor 310 includes multiple types of sensors, and the intelligent driving control unit 320 has stronger data processing capabilities, thereby achieving high-level autonomous driving and improving the user experience.

[0141] As shown in FIG11 , in a possible embodiment, the vehicle 300 further includes a plurality of controller area network buses 3100 , and the plurality of controller area network buses 3100 are coupled to the second output terminal of the intelligent driving control unit 320 . The method further includes step S1004 .

[0142] S1004. When a failure occurs in the vehicle control unit 340, the intelligent driving control unit 320 receives a driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through multiple controller local area network buses 3100 to control the vehicle 300.

[0143] Optionally, the multiple controller area network buses include a chassis controller area network bus, a chassis redundant controller area network bus, and a power controller area network bus.

[0144] Optionally, the driving signal may include at least one of an accelerator pedal signal, a brake switch signal, and a collision signal, which is not limited in the embodiment of the present application.

[0145] Based on this, an embodiment of the present application further provides an intelligent driving control unit 320, the structure of which may be the structure of the intelligent driving control unit 320 shown in any of the above-mentioned Figures 3, 5 to 9. The input end of the intelligent driving control unit 320 is coupled to the output end of at least one sensor 310, and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the driving projection device 330. The intelligent driving control unit 320: receives external environment data, which is data generated by at least one sensor 31 based on the external environment of the vehicle 300, determines projection image data based on the external environment data, and sends the projection image data to the driving projection device 330, so that the driving projection device 330 outputs a projection image based on the projection image data.

[0146] Optionally, the at least one sensor 310 includes at least one of a camera, a microwave radar, and a lidar, which is not limited in the embodiment of the present application.

[0147] Optionally, the projected image can achieve lighting enhancement, assisted driving, light carpet and multimedia, etc. The specific functions that can be achieved by the projected image can refer to the existing technology, and the embodiments of the present application are not limited to this.

[0148] In one possible embodiment, a second output terminal of the intelligent driving control unit 320 is coupled to an input terminal of the vehicle control unit 340, and an output terminal of the vehicle control unit 340 is coupled to a second input terminal of the projection device 330. The intelligent driving control unit 320 also outputs a first control signal, which controls the vehicle control unit 340 to output a second control signal, which controls the projection device 330 to output a projection image based on the projection image data.

[0149] In one possible embodiment, the intelligent driving control unit 320 includes a system-on-chip (SoC) 321 and a microprocessor 322. An input of the SoC 321 is coupled to a first input of the intelligent driving control unit 320, an output of the SoC 321 is coupled to a first output of the intelligent driving control unit 320, and an output of the microprocessor 322 is coupled to a second output of the intelligent driving control unit 320. The SoC 321 generates projection image data based on external environment data, and the microprocessor 322 outputs a third control signal. The third control signal controls and drives the projection device 330 to output a projection image based on the projection image data.

[0150] In a possible embodiment, the second output end of the intelligent driving control unit 320 is coupled to multiple controller area network buses 3100. The intelligent driving control unit 320 also receives a driving signal, generates a driving control signal based on the driving signal, and sends the driving control signal through multiple controller area network buses 3100 to control the vehicle 300.

[0151] The intelligent driving control unit 320 provided in this embodiment of the present application generates projection image data based on external environment data and transmits it to the projection drive device 330, so that the projection drive device 330 outputs a projection image based on the projection image data. Compared with the link topology in the aforementioned vehicle 200, this link topology is simpler, the data transmission link is shorter, and data transmission latency can be reduced. Furthermore, since the at least one sensor 310 includes multiple types of sensors, the intelligent driving control unit 320 has greater data processing capabilities, thereby enabling advanced autonomous driving and improving the user experience.

[0152] Based on this, as shown in FIG12 , an embodiment of the present application further provides an intelligent driving control method. This intelligent driving control method can be applied to the intelligent driving control unit 320 described above. The structure of the intelligent driving control unit 320 can be the structure of the intelligent driving control unit 320 shown in any of the above-mentioned Figures 3 , 5 , 9 . The input end of the intelligent driving control unit 320 is coupled to the output end of at least one sensor 310 , and the first output end of the intelligent driving control unit 320 is coupled to the first input end of the driving projection device 330 . The method includes steps S1201 and S1202 .

[0153] S1201 , receiving external environment data, where the external environment data is data generated by at least one sensor 310 according to the external environment of the vehicle 300 .

[0154] S1202 : Determine projection image data according to the external environment data, and send the projection image data to the projection driving device 330 , so that the projection driving device 330 outputs a projection image according to the projection image data.

[0155] In one possible embodiment, the second output terminal of the intelligent driving control unit 320 is coupled to the input terminal of the vehicle control unit 340, and the output terminal of the vehicle control unit 340 is coupled to the second input terminal of the projection device 330. Step S1202 includes outputting a first control signal, the first control signal controlling the vehicle control unit 340 to output a second control signal, and the second control signal controlling the projection device 330 to output a projection image according to the projection image data.

[0156] In one possible embodiment, the intelligent driving control unit 320 includes a system-on-chip (SoC) 321 and a microprocessor 322. The input of the SoC 321 is coupled to the first input of the intelligent driving control unit 320, the output of the SoC 321 is coupled to the first output of the intelligent driving control unit 320, and the output of the microprocessor 322 is coupled to the second output of the intelligent driving control unit 320. Step S1202 described above includes: the SoC 321 generates projection image data based on external environment data. The microprocessor 322 outputs a third control signal, which controls the projection device 330 to output a projection image based on the projection image data.

[0157] In a possible embodiment, as shown in FIG13 , the second output terminal of the intelligent driving control unit 320 is coupled to a plurality of controller area network buses 3100 , and the method further includes step S1203 .

[0158] S1203 , receiving a driving signal, generating a driving control signal according to the driving signal, and sending the driving control signal through multiple controller area network buses 3100 to control the vehicle 300 .

[0159] The relevant descriptions of the vehicle 300 provided above can all be referred to the vehicle control method, the intelligent driving control unit 320 and the intelligent driving control method, and will not be repeated here in the embodiments of the present application.

[0160] The above is only a specific embodiment of the present application, but the scope of protection of this application is not limited to this. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A vehicle, characterized in that: The vehicle comprises at least one sensor, an intelligent driving control unit and a driving projection device, wherein an output end of the at least one sensor is coupled to an input end of the intelligent driving control unit, and a first output end of the intelligent driving control unit is coupled to a first input end of the driving projection device; The at least one sensor is used to generate external environment data according to the external environment of the vehicle and send the external environment data to the intelligent driving control unit; The intelligent driving control unit is used to generate projection image data according to the external environment data, and send the projection image data to the driving projection device; The driving projection device is used to output a projection image according to the projection image data.

2. The vehicle according to claim 1, characterized in that The vehicle further includes a vehicle control unit, and the vehicle control unit is used to control the driven projection device to output the projection image according to the projection image data.

3. The vehicle according to claim 2, characterized in that The input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device; The intelligent driving control unit is further configured to output a first control signal; The vehicle control unit is used to output a second control signal according to the first control signal, and the second control signal is used to control the driven projection device to output the projection image according to the projection image data.

4. The vehicle according to any one of claims 1 to 3, characterized in that: The intelligent driving control unit includes a system-level chip and a microprocessor, the input end of the system-level chip is coupled to the input end of the intelligent driving control unit, the output end of the system-level chip is coupled to the first output end of the intelligent driving control unit, and the output end of the microprocessor is coupled to the second output end of the intelligent driving control unit; The system-level chip is used to generate the projection image data according to the external environment data; The microprocessor is used to output a third control signal, and the third control signal is used to control the driven projection device to output the projection image according to the projection image data.

5. The vehicle according to any one of claims 1 to 4, characterized in that: The driving projection device comprises a driving circuit and a projection circuit, wherein an output end of the driving circuit is coupled to an input end of the projection circuit; The driving circuit is used to receive a control signal and generate a driving signal according to the control signal; The projection circuit is used to output the projection image according to the projection image data under the drive of the driving signal.

6. The vehicle according to claim 5, characterized in that The projection circuit includes a headlight of the vehicle.

7. The vehicle according to any one of claims 1 to 6, characterized in that: The vehicle further includes a plurality of controller area network buses, the plurality of controller area network buses being coupled to a second output terminal of the intelligent driving control unit; The intelligent driving control unit is also used to receive a driving signal, generate a driving control signal according to the driving signal, and send the driving control signal through the multiple controller area network buses to control the vehicle.

8. The vehicle according to claim 7, characterized in that The plurality of CAN buses include a chassis CAN bus, a chassis redundant CAN bus and a power CAN bus.

9. The vehicle according to any one of claims 1 to 8, characterized in that: The at least one sensor includes at least one of a camera, a microwave radar, and a lidar.

10. A vehicle control method, characterized in that: The vehicle includes at least one sensor, an intelligent driving control unit and a driving projection device, the output end of the at least one sensor is coupled to the input end of the intelligent driving control unit, the first output end of the intelligent driving control unit is coupled to the first input end of the driving projection device, and the method includes: The at least one sensor generates external environment data according to the external environment of the vehicle, and sends the external environment data to the intelligent driving control unit; The intelligent driving control unit generates projection image data according to the external environment data, and sends the projection image data to the driving projection device; The driven projection device outputs a projection image according to the projection image data.

11. The method according to claim 10, characterized in that The vehicle further includes a vehicle control unit, and the driving projection device to output a projection image according to the projection image data includes: The driven projection device outputs the projection image according to the projection image data under the control of the vehicle control unit.

12. The method according to claim 11, characterized in that The input end of the vehicle control unit is coupled to the second output end of the intelligent driving control unit, and the output end of the vehicle control unit is coupled to the second input end of the driving projection device. The method further includes: The intelligent driving control unit outputs a first control signal; The vehicle control unit outputs a second control signal according to the first control signal, and the second control signal is used to control the driven projection device to output the projection image according to the projection image data.

13. The method according to claim 11 or 12, characterized in that: The intelligent driving control unit includes a system-level chip and a microprocessor, wherein an input end of the system-level chip is coupled to an input end of the intelligent driving control unit, an output end of the system-level chip is coupled to a first output end of the intelligent driving control unit, and an output end of the microprocessor is coupled to a second output end of the intelligent driving control unit. The intelligent driving control unit generates projection image data according to the external environment data, including: the system-level chip generates the projection image data according to the external environment data; The driving the projection device to output the projection image according to the projection image data comprises: the driving the projection device to output the projection image according to the projection image data under the control of a third control signal output by the microprocessor.

14. The method according to claim 12 or 13, characterized in that The projector driving device comprises a driving circuit and a projection circuit, wherein an output end of the driving circuit is coupled to an input end of the projection circuit, and the projector driving device outputs a projection image according to the projection image data, comprising: The driving circuit receives a control signal and generates a driving signal according to the control signal; The projection circuit is driven by the driving signal to output the projection image according to the projection image data.

15. The method according to claim 11 or 12, characterized in that: The vehicle further includes a plurality of controller area network buses, wherein the plurality of controller area network buses are coupled to a second output terminal of the intelligent driving control unit, and the method further includes: When the vehicle control unit fails, the intelligent driving control unit receives a driving signal, generates a driving control signal according to the driving signal, and sends the driving control signal through the multiple controller area network buses to control the vehicle.

16. An intelligent driving control unit, characterized in that: The input end of the intelligent driving control unit is coupled to the output end of at least one sensor, the first output end of the intelligent driving control unit is coupled to the first input end of the driving projection device, and the intelligent driving control unit is used to: receiving external environment data, wherein the external environment data is generated by the at least one sensor according to an external environment of the vehicle; The projection image data is determined according to the external environment data, and the projection image data is sent to the driven projection device, so that the driven projection device outputs a projection image according to the projection image data.

17. The intelligent driving control unit according to claim 16, characterized in that: The second output terminal of the intelligent driving control unit is coupled to the input terminal of the vehicle control unit, and the output terminal of the vehicle control unit is coupled to the second input terminal of the driving projection device; The intelligent driving control unit is also used to output a first control signal, where the first control signal is used to control the vehicle control unit to output a second control signal, where the second control signal is used to control the driven projection device to output the projection image according to the projection image data.

18. The intelligent driving control unit according to claim 16 or 17, characterized in that: The intelligent driving control unit includes a system-level chip and a microprocessor, wherein an input end of the system-level chip is coupled to a first input end of the intelligent driving control unit, an output end of the system-level chip is coupled to a first output end of the intelligent driving control unit, and an output end of the microprocessor is coupled to a second output end of the intelligent driving control unit; The system-level chip is used to generate the projection image data according to the external environment data; The microprocessor is used to output a third control signal, and the third control signal is used to control the driven projection device to output the projection image according to the projection image data.

19. The intelligent driving control unit according to any one of claims 16 to 18, characterized in that: A second output terminal of the intelligent driving control unit is coupled to a plurality of controller area network buses; The intelligent driving control unit is also used to receive a driving signal, generate a driving control signal according to the driving signal, and send the driving control signal through the multiple controller area network buses to control the vehicle.

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