Method and system for calibrating vehicle projection device, and vehicle

Abstract

Provided in the present application are a method and system for calibrating a vehicle projection device, and a vehicle. The method for calibrating a vehicle projection device comprises: determining actual projection ground information of a projection device; on the basis of the actual projection ground information, determining reference information of the projection device relative to an actual projection ground; and adjusting the projection device on the basis of the reference information.

Description

Calibration method and system for vehicle projection equipment and vehicle CROSS-REFERENCE TO RELATED APPLICATIONS This application is filed with the China Patent Office on January 25, 2024, with application number 2024101083560 and invention name The present invention claims priority from the Chinese patent application entitled “Calibration method, system, vehicle and storage medium for vehicle projection equipment,” the entire contents of which are incorporated herein by reference. Technical Field

[0001] The present application relates to, but is not limited to, the field of vehicle technology, and in particular to a calibration method, system, and vehicle for a vehicle projection device. Background Art

[0002] The vehicle projection device is installed on the vehicle body, and the position of the vehicle projection device and the projected image are calibrated before leaving the factory. Summary of the Invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The present application provides an improved calibration method, system, vehicle and storage medium for vehicle projection equipment.

[0005] The present application provides a calibration method for a vehicle projection device, comprising: determining actual projection ground information of the projection device; determining reference information of the projection device relative to the actual projection ground based on the actual projection ground information; and adjusting the projection device based on the reference information.

[0006] Optionally, determining the actual projection ground information of the projection device includes: controlling the projection device to project a calibration disk on the actual projection ground, the calibration disk including a plurality of black grids and a plurality of white grids spaced apart in the longitudinal and latitudinal directions respectively; judging whether the calibration disk is deformed; when it is determined that the calibration disk is deformed, judging whether the deformation amount of the calibration disk is continuous; if the deformation amount of the calibration disk is continuous, determining that the actual projection ground is an inclined surface; if the deformation amount of the calibration disk is discontinuous, determining that there is an obstacle on the actual projection ground.

[0007] Optionally, after determining that the actual projection ground is an inclined surface, the reference information of the projection device relative to the actual projection ground is determined based on the actual projection ground information, including: obtaining the vehicle inclination angle of the vehicle relative to the inclined surface, and the device status angle of the projection device relative to the vehicle; determining the device inclination angle of the projection device relative to the inclined surface based on the vehicle inclination angle and the device status angle; and determining the maximum value of the device inclination angles as the inclination angle of the projection device relative to the inclined surface.

[0008] Optionally, after determining that the actual projection ground is an inclined surface, the reference information of the projection device relative to the actual projection ground is determined based on the actual projection ground information, including: pre-controlling the projection device to project the calibration disk within the inclined surface with different preset inclination angles to obtain multiple calibration images corresponding to different inclination angles; obtaining the projection image after deformation; and comparing the projection image with the multiple different calibration images to determine the inclination angle corresponding to one of the calibration images in the multiple different calibration images as the inclination angle of the projection device relative to the inclined surface.

[0009] Optionally, the vehicle includes a rotating platform, and the projection device is assembled on the rotating platform; adjusting the projection device according to the reference information includes: controlling the rotating platform to rotate the inclination angle toward the inclined surface, so as to drive the projection device to adjust the inclination angle relative to the inclined surface.

[0010] Optionally, the rotation direction of the rotating platform is consistent with the tilt direction of the inclined surface relative to the vehicle.

[0011] Optionally, the rotation angle of the rotating platform is consistent with the inclination angle of the inclined surface relative to the vehicle.

[0012] Optionally, after determining that there is an obstacle on the actual projection ground, determining reference information of the projection device relative to the actual projection ground based on the actual projection ground information includes: determining a boundary line of the obstacle in the projection area and marking it.

[0013] Optionally, the projection device includes a display component; and adjusting the projection device according to the reference information includes: determining, based on the marked boundary line of the obstacle, a portion of the display components projected into the area of ​​the obstacle; and controlling the determined portion of the display components to turn off so that the projected image within the area of ​​the obstacle is not displayed.

[0014] Optionally, the projection device includes an optical component; adjusting the projection device according to the reference information includes: determining the maximum size of the projection image of the projection device according to the marked boundary line of the obstacle, wherein the edge of the maximum-sized projection image does not exceed the boundary line; and controlling the optical component to adjust the projection image of the projection device to the maximum size so that the projection area avoids the area of ​​the obstacle.

[0015] The present application also provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the calibration method of the vehicle projection device as described in any one of the above embodiments is implemented.

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

[0017] The present application also provides a vehicle, comprising: a correction system for the vehicle projection device as described in the above embodiment.

[0018] The vehicle projection device calibration method, system, vehicle, and storage medium of the embodiments of the present application. The vehicle projection device calibration method first determines the actual projection ground information of the projection device, determines the reference information of the projection device relative to the actual projection ground based on the actual projection ground information, and adaptively adjusts the projection device based on the specific reference information. When the vehicle is parked outdoors and on an uneven or inclined road surface, the projection device is also synchronously adjusted according to the actual driving environment to prevent the image projected by the projection device from being tilted or distorted. The vehicle can be adaptively adjusted according to the actual driving environment, is applicable to a wider range of driving environments, and has strong adaptability.

[0019] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a flow chart showing an embodiment of a calibration method for a vehicle projection device of the present application.

[0021] FIG. 2 is a flow chart showing step S1 of the calibration method of the vehicle projection device shown in FIG. 1 .

[0022] FIG. 3 is a flow chart showing another embodiment of a calibration method for the vehicle projection device shown in FIG. 1 .

[0023] FIG. 4 is a flow chart showing another embodiment of a calibration method for the vehicle projection device shown in FIG. 1 .

[0024] FIG. 5 is a flow chart showing another embodiment of a calibration method for the vehicle projection device shown in FIG. 1 .

[0025] FIG. 6 is a flow chart showing another embodiment of a calibration method for the vehicle projection device shown in FIG. 1 .

[0026] FIG7 is a principle block diagram showing an embodiment of a correction system for a vehicle projection device of the present application. DETAILED DESCRIPTION

[0027] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0028] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. Unless otherwise defined, technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the art to which this application belongs. The terms "first," "second," and similar words used in this specification and claims do not denote any order, quantity, or importance, but are simply used to distinguish different components. Similarly, the terms "a" or "an" and similar words do not denote a limitation of quantity, but rather indicate the presence of at least one. The terms "plurality" or "several" mean at least two. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper" and similar words are for convenience only and are not intended to limit to a single position or spatial orientation. The terms "include" or "comprising" and similar words mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and similar words are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect.

[0029] As used in this specification and the appended claims, the singular forms "a," "an," "said," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0030] When a vehicle is parked outdoors on an uneven or inclined road, the projection device installed on the vehicle will also tilt synchronously, causing the image projected by the vehicle projection device to tilt or distort. Therefore, the inherent mode of the calibration scheme used by the vehicle projection device is not very adaptable and cannot be applied to more driving environments.

[0031] The present application provides a calibration method for a vehicle projection device, comprising: determining actual projection ground information of the projection device; determining reference information of the projection device relative to the actual projection ground based on the actual projection ground information; and adjusting the projection device based on the reference information.

[0032] The calibration method of the vehicle projection equipment in the embodiment of the present application first determines the actual projection ground information of the projection equipment, determines the reference information of the projection equipment relative to the actual projection ground based on the actual projection ground information, and adaptively adjusts the projection equipment according to the specific reference information. When the vehicle is parked outdoors and on an uneven or inclined road surface, the projection equipment will also be synchronously adjusted according to the actual driving environment to avoid the image projected by the projection equipment from being tilted or distorted. It can be adaptively adjusted according to the actual driving environment, can be applied to more driving environments, and has strong adaptability.

[0033] The calibration method, system, vehicle and storage medium of the vehicle projection device of the present application are described in detail below with reference to the accompanying drawings. The features of the following embodiments and implementations can be combined with each other unless there is any conflict.

[0034] Figure 1 is a flow chart of an embodiment of a calibration method for a vehicle projection device of the present application. As shown in Figure 1 , the calibration method for a vehicle projection device includes steps S1 to S3.

[0035] Step S1, determine the actual projection ground information of the projection device. In this embodiment, the actual projection ground information of the projection device can be obtained by using the camera of the vehicle. Or the image projected by the projection device itself can be used to determine the actual projection ground information. The image projected by the projection device can be displayed on the actual projection ground. For example, the projection device is set at a position on the top of the vehicle near the rear of the vehicle, and the actual projection ground is the ground behind the vehicle. The actual projection ground information may include the type of the actual projection ground, such as whether the ground is flat and whether it is an inclined surface. The inclined surface refers to the actual projection ground that is inclined relative to the road surface directly below the vehicle, that is, there is an angle between the inclined surface and the ground directly below the vehicle.

[0036] Step S2: Determine reference information of the projection device relative to the actual projection ground surface based on the actual projection ground surface information. Different actual projection ground surface information results in different reference information of the projection device relative to the actual projection ground surface. The reference information includes the inclination angle of the projection device relative to the inclined surface and the obstacle boundaries of the projection area.

[0037] Step S3: Adjust the projection device according to the reference information. Different reference information may adjust different parameters of the projection device, for example, some may adjust the angle of the projection device, some may adjust the components of the projection device, and some may adjust the driving components of the projection device, which are not limited in this application.

[0038] The vehicle projection device calibration method, system, vehicle, and storage medium of the embodiments of the present application. The vehicle projection device calibration method first determines the actual projection ground information of the projection device, determines the reference information of the projection device relative to the actual projection ground based on the actual projection ground information, and adaptively adjusts the projection device based on the specific reference information. When the vehicle is parked outdoors and on an uneven or inclined road surface, the projection device is also synchronously adjusted according to the actual driving environment to calibrate the projection device to prevent the image projected by the projection device from being tilted or distorted. The vehicle can be adaptively adjusted according to the actual driving environment, is applicable to a wider range of driving environments, and has strong adaptability.

[0039] Fig. 2 is a flow chart of step S1 of the calibration method of the vehicle projection device shown in Fig. 1. As shown in Fig. 2, step S1, determining actual projection ground information of the projection device, includes steps S11 to S15.

[0040] Step S11: Control the projection device to project a calibration disk onto the actual projection surface. The calibration disk can be, for example, a black and white Go calibration disk comprising a plurality of black and white squares spaced apart in the longitudinal and latitudinal directions. In this embodiment, the projection device can be a holographic grating module. The spatial positional characteristics of the calibration disk are recorded in the holographic grating module during the exposure process. During the projection process, a light source illuminates the holographic grating module, effectively visualizing a virtual image of the original calibration disk. This virtual image includes a plurality of black and white square virtual images spaced apart in the longitudinal and latitudinal directions.

[0041] Step S12: Determine whether the calibration disk is deformed. Under normal circumstances, if the projection device is projected onto a flat surface, the edges of the multiple white and black squares of the black and white calibration disk are unlikely to deform. However, if the projection device is projected onto an uneven surface or a surface that is tilted relative to the vehicle, the edges of the multiple white and black squares of the black and white calibration disk may deform. Therefore, by determining whether the calibration disk is deformed, a rough determination can be made as to whether the actual projection surface is flat or tilted relative to the vehicle.

[0042] Step S13: When the calibration disk is determined to have deformed, determine whether the deformation of the calibration disk is continuous. If the calibration disk is determined to have deformed, it indicates that the actual projected ground surface projected by the projection device is uneven or tilted relative to the vehicle. Further, by determining whether the deformation of the calibration disk is continuous, it is precisely determined whether the actual projected ground surface is flat or tilted relative to the vehicle. If the calibration disk is determined not to have deformed, it indicates that the actual projected ground surface projected by the projection device is flat and not tilted, and projection can proceed according to the original parameters.

[0043] Step S14: If the deformation of the calibration disk is continuous, the actual projected ground surface is determined to be an inclined surface. If the deformation of the calibration disk is continuous, such as increasing or decreasing sequentially, the actual projected ground surface is determined to be flat, more accurately determining it as an inclined surface without obstacles.

[0044] Step S15: If the deformation of the calibration disk is discontinuous, it is determined that an obstacle exists on the actual projected ground surface. If the deformation of the calibration disk is not continuous, for example, if it suddenly jumps and becomes larger while increasing, or suddenly jumps and becomes smaller while decreasing, it is determined that the actual projected ground surface is uneven, and the presence of an obstacle is more accurately determined.

[0045] In the above scheme, the calibration disk projected by the projection device onto the actual projection ground is used as a calibration image or reference image to accurately determine the type of the actual projection ground with high accuracy, providing an accurate reference for subsequent adjustments.

[0046] Figure 3 is a flow chart of another embodiment of a calibration method for the vehicle projection device shown in Figure 1. As shown in Figure 3, step S2, determining reference information of the projection device relative to the actual projection ground surface based on the actual projection ground surface, includes steps S211 through S213. Step S3, adjusting the projection device based on the reference information, includes step S311. Steps S211 through S213 are performed after step S14 and before step S311.

[0047] Step S211, obtain the vehicle tilt angle of the vehicle relative to the inclined surface, and the device state angle of the projection device relative to the vehicle. This step is performed after step S14, using the vehicle's inertial measurement unit (IMU) to obtain the actual vehicle tilt angle of the vehicle relative to the inclined surface. The vehicle tilt angle can be the angle along the three axes of X / Y / Z, respectively. The three axes of X / Y / Z are the axes in the geodetic coordinate system. The device state angle of the projection device relative to the vehicle can be the calibration angle of the projection device relative to the vehicle before leaving the factory. The calibration angle can also be the angle along the three axes of X / Y / Z. The vehicle tilt angle can be the angle between the ground directly below the vehicle and the actual projected ground. For example, the angle of the ground directly below the vehicle relative to the horizontal plane is 10 degrees, and the actual projected ground is the ground behind the rear of the vehicle, and its angle relative to the horizontal plane is 3 degrees. If the inclination direction of the actual projected ground and the ground directly below the vehicle is consistent, the vehicle tilt angle is 7 degrees.

[0048] Step S212: Determine the device tilt angle of the projection device relative to the inclined surface based on the vehicle tilt angle and the device status angle. Using the acquired vehicle tilt angle and device status angle, the actual device tilt angle of the projection device relative to the inclined surface can be accurately acquired. This device tilt angle can be the angle between the X, Y, and Z axes. The actual device tilt angle of the projection device relative to the inclined surface can be the difference between the vehicle tilt angle and the device status angle.

[0049] Step S213: Determine the maximum value among the device tilt angles as the tilt angle of the projection device relative to the inclined surface. When the actual projection ground surface is determined to be an inclined surface, the change in its tilt is a continuous variable, that is, the actual projection ground surface includes at least two planes with different tilt angles. In this case, the device tilt angles of at least two projection devices relative to the inclined surface can be obtained based on at least two vehicle tilt angles and the device status angle. Then, the maximum value among the device tilt angles is determined as the tilt angle of the projection device relative to the inclined surface to ensure that the image projected by the subsequently adjusted projection device is complete or not tilted, thereby improving the viewing experience.

[0050] Step S3, adjusting the projection device based on the reference information, includes step S311. Step S311 is performed after step S213. The vehicle includes a rotating platform, and the projection device is assembled on the rotating platform. The rotating platform drives the projection device to move horizontally and / or vertically.

[0051] Step S311: Controlling the rotatable platform to rotate the projection device toward the inclined surface, thereby adjusting the projection device's tilt angle relative to the inclined surface. In this embodiment, the rotatable platform is controlled based on the actual determined tilt angle of the projection device relative to the inclined surface, driving the projection device to move to match the actual tilt surface. This ensures that the image projected by the projection device after adjustment is intact or not tilted, thereby improving the viewing experience.

[0052] In the present embodiment, the rotation direction of the rotating platform is consistent with the tilt direction of the inclined surface relative to the ground directly below the vehicle. For example, if it is detected that the actual inclined surface is tilted downward (the inclined surface can be parallel to the ground directly below the vehicle after downward rotation), the rotating platform is controlled to move downward (i.e., rotate in the direction close to the ground directly below the vehicle). In the present embodiment, when the device status angle is the calibrated angle of the projection device relative to the vehicle before leaving the factory, the rotation angle of the rotating platform is consistent with the tilt angle of the inclined surface relative to the ground directly below the vehicle. For example, if it is detected that the actual inclined surface is tilted 5 degrees relative to the ground directly below the vehicle, the rotation angle of the rotating platform is also controlled to be 5 degrees. In the present embodiment, the rotation direction of the rotating platform is consistent with the tilt direction of the inclined surface relative to the ground directly below the vehicle, and the rotation angle of the rotating platform is consistent with the tilt angle of the inclined surface relative to the ground directly below the vehicle. For example, if it is detected that the actual inclined surface is tilted 5 degrees downward, the rotation angle of the rotating platform is also controlled to be tilted 5 degrees downward.

[0053] In the above scheme, when the actual projection ground is determined to be an inclined surface, the rotating platform of the hardware structure is controlled by the actually determined inclination angle of the projection device relative to the inclined surface, driving the projection device to move to adapt to the actual inclined surface, ensuring that the image projected by the adjusted projection device is complete or not tilted, thereby improving the viewing experience.

[0054] Figure 4 is a flow chart of another embodiment of a calibration method for the vehicle projection device shown in Figure 1. The embodiment shown in Figure 4 is similar to the embodiment shown in Figure 3, with the primary difference being that step S2, based on the actual projected ground surface information, determines reference information for the projection device relative to the actual projected ground surface, including steps S221 through S223. Step S3, based on the reference information, adjusts the projection device, including step S311. Steps S211 through S213 are executed after step S14 and before step S311.

[0055] Step S221: Control the projection device to project a calibration disk onto a preset inclined surface at different inclination angles to obtain a plurality of calibration images corresponding to the different inclination angles. For example, the projection device is controlled to project a calibration disk onto a preset inclined surface at different inclination angles, such as 5 degrees, 10 degrees, and 15 degrees, to obtain a plurality of different calibration images. The calibration disk projected by the projection device onto the inclined surface at different inclination angles, such as 5 degrees, 10 degrees, and 15 degrees, is different.

[0056] Step S222: Acquire the deformed projection image. When the projection device projects the calibration disk onto the inclined surface, the calibration disk will be deformed, and the deformed projection image can be acquired.

[0057] Step S223: Compare the projected image with the multiple calibration images to determine the tilt angle corresponding to one of the calibration images, and use this as the tilt angle of the projection device relative to the inclined surface. For example, after comparing the projected image with the multiple calibration images, it is determined that the calibration image tilted 5 degrees has the highest similarity to the actual projected image. Therefore, the tilt angle of the projection device relative to the inclined surface is determined to be 5 degrees. In this manner, the tilt angle of the inclined surface relative to the projection device can be determined.

[0058] In the above scheme, the acquired projection image is compared with pre-stored calibration images of different angles to select a calibration image with a high similarity to the acquired projection image, so as to determine the tilt angle corresponding to the calibration image as the tilt angle of the projection device relative to the inclined surface. In this way, the tilt angle of the projection device relative to the inclined surface can be roughly obtained, and this method is simple. The embodiment shown in Figure 4 is similar to the embodiment shown in Figure 3. After determining the tilt angle of the projection device relative to the inclined surface, the projection device is driven to move by controlling the rotating platform of the hardware structure to adapt to the actual inclined surface. The specific method of adjusting the projection device can be specifically referred to the embodiment shown in Figure 3. Such a setting ensures that the image projected by the adjusted projection device can be complete or not tilted, thereby improving the viewing experience.

[0059] Figure 5 is a flow chart of another embodiment of a calibration method for the vehicle projection device shown in Figure 1. As shown in Figure 5, step S2, determining reference information of the projection device relative to the actual projected ground surface based on the actual projected ground surface, includes step S231. Step S3, adjusting the projection device based on the reference information, includes steps S321 and S322. Step S231 is performed after step S15 and before step S321.

[0060] Step S231: Determine and mark the boundary lines of obstacles in the projection area. After determining the presence of obstacles on the actual projected ground surface, the vehicle's camera can be used to determine the type of obstacle. For example, the obstacle could be a building or cliff above ground, or a deep pit below ground. The holographic grating structure can determine the boundary lines of these obstacles and mark them.

[0061] Step S321: Based on the marked obstacle boundary, determine the portion of the display component projected into the area of ​​the obstacle. The projection device includes a display component for displaying an image in an external environment. Based on the determined obstacle boundary, accurately determine the portion of the display component projected into the area of ​​the obstacle.

[0062] Step S322: Control the determined portion of display components to turn off so that the projected image in the area of ​​the obstacle is not displayed. By controlling the determined portion of display components so that the projected image in the area of ​​the obstacle is not displayed, the viewing experience is improved.

[0063] In the above solution, based on the determined boundary line of the obstacle, some display components within the area projected onto the obstacle are accurately determined. By controlling some display components, the projected image within the area of ​​the obstacle is not displayed, thereby improving the viewing experience.

[0064] Figure 6 is a flow chart of another embodiment of a calibration method for the vehicle projection device shown in Figure 1 . The embodiment shown in Figure 6 is similar to the embodiment shown in Figure 5 , with the primary difference being that step S3, which involves adjusting the projection device based on reference information, also includes steps S331 and S332. Step S331 is executed after step S231. Alternatively, steps S321 and S322 or steps S331 and S332 may be executed after step S231.

[0065] Step S331: Determine the maximum size of the projected image by the projection device based on the marked obstacle boundary, ensuring that the edge of the maximum-sized projected image does not extend beyond the boundary. Based on the marked obstacle boundary, the maximum size of the projected image by the projection device is accurately determined, ensuring that the edge of the maximum-sized projected image does not extend beyond the boundary.

[0066] Step S332: Control the optical assembly to adjust the projected image of the projection device to its maximum size, ensuring that the projection area avoids obstacles. The projection device is equipped with an optical assembly. The optical assembly can adjust the size of the projected image. By controlling the optical assembly, the projected image of the projection device is precisely adjusted to its maximum size, ensuring that the projection area avoids obstacles and maintains a complete image.

[0067] In other embodiments, the projection device's angle can be adjusted by controlling the center console to calibrate the device for a desired projection position. To accommodate users with different usage habits, the system is divided into two modes: automatic and manual. For manual adjustment, users can control the projection image in the vehicle's X / Y directions via the control interface. For automatic adjustment, users can set the projection image with a single click. A projection position memory function is also included to memorize the user's projection angle and position.

[0068] FIG7 shows a block diagram of an embodiment of a calibration system for a vehicle projection device according to the present application. As shown in FIG7 , the present application also provides a computer-readable storage medium having a program stored thereon. When executed by a processor, the program implements the calibration method for the vehicle projection device described in the embodiments of FIG1 to FIG6 . In some embodiments, the computer-readable storage medium may be an internal storage unit of the aforementioned vehicle, such as a hard drive or memory. The computer-readable storage medium may also be an external storage device of the vehicle, such as a plug-in hard drive, a smart media card (SMC), an SD card, a flash memory card, etc. Furthermore, the computer-readable storage medium may include both an internal storage unit and an external storage device of the vehicle. The computer-readable storage medium is used to store computer programs and other programs and data required by the vehicle, and may also be used to temporarily store data that has been output or is about to be output. From a hardware perspective, FIG7 shows a hardware structure diagram of a vehicle in which the processor of the present application is located. In addition to the processor, memory, network interface, and non-volatile memory described in FIG7 , the vehicle in which the adjustment system is located in the embodiments may also include other hardware depending on the actual function of the vehicle, which will not be described in detail.

[0069] The present application also provides a correction system for a vehicle projection device, comprising: one or more processors for implementing a correction method for a vehicle projection device as in any one of the embodiments shown in FIG. 1 to FIG. 6 above. As for the system embodiment, it basically corresponds to the method embodiment, so for relevant details, please refer to the partial description of the method embodiment. The system embodiment described above is merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without expending creative effort.

[0070] The vehicle includes a correction system for a vehicle projection device. The vehicle is used to implement the correction method for the vehicle projection device described in any one of Figures 1 to 6 through the correction system of the vehicle projection device. The present application combines the vehicle's own sensors, cameras, millimeter-wave radars, etc. to collect the vehicle's surrounding environment and the vehicle's own status, and forms a light control system through optical components and the display components of the vehicle body, so as to realize autonomous detection of the external environment of the vehicle and adaptively select the appropriate mode (distance, brightness) for projection. In order to ensure the image quality of the vehicle projection image, in the above-mentioned scenarios, the existing sensors of the vehicle are used to confirm the vehicle's surrounding environment and eliminate the influence of the vehicle's posture on the vehicle projection. When the vehicle is parked outdoors and on an uneven or inclined road surface, the projection device will also be synchronously adjusted according to the actual driving environment to avoid the image projected by the projection device from being tilted or distorted. It can be adaptively adjusted according to the actual driving environment and can be applied to more driving environments. It has strong adaptability and improves the viewing experience and user experience. It can also improve the integrity, authenticity and accuracy of the vehicle's two-dimensional projection image information; it can enhance the vehicle's intelligent attributes so that the two-dimensional projection image can cope with more driving environments; it can use the vehicle's existing hardware to improve the display effect through software capabilities; it can increase broader user benefits with limited hardware investment; it can display clearer information for vehicle projection interaction, improve attention and readability; it can also improve vehicle interaction, achieve the ultimate pursuit of vehicle intelligent interaction, and enhance brand power.

[0071] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A calibration method for a vehicle projection device, comprising: Determining the actual projection ground information of the projection device; Determining the reference information of the projection device relative to the actual projection ground according to the actual projection ground information; Adjusting the projection device according to the reference information.

2. The calibration method according to claim 1, wherein, The determining the actual projection ground information of the projection device includes: Controlling the projection device to project a calibration plate on the actual projection ground; Judging whether the projection image of the calibration plate is deformed; When it is determined that the projection image of the calibration plate is deformed, judging whether the deformation amount of the projection image of the calibration plate is continuous; If the deformation amount of the projection image of the calibration plate is continuous, determining that the actual projection ground is an inclined plane; If the deformation amount of the projection image of the calibration plate is not continuous, determining that there are obstacles on the actual projection ground.

3. The calibration method according to claim 2, wherein, After determining that the actual projection ground is an inclined plane, the determining the reference information of the projection device relative to the actual projection ground according to the actual projection ground information includes: Obtaining the vehicle tilt angle of the vehicle relative to the inclined plane and the device state angle of the projection device relative to the vehicle; Determining the device tilt angle of the projection device relative to the inclined plane according to the vehicle tilt angle and the device state angle; and Determining the maximum value in the device tilt angles as the tilt angle of the projection device relative to the inclined plane.

4. The calibration method according to claim 2, wherein, After determining that the actual projection ground is an inclined plane, the determining the reference information of the projection device relative to the actual projection ground according to the actual projection ground information includes: Pre-controlling the projection device to project the calibration plate in inclined planes with preset different tilt angles to obtain a plurality of calibration images corresponding to different tilt angles; Obtaining the projection image after projecting the calibration plate on the actual projection ground; and Comparing the projection image with the plurality of different calibration images, and determining the tilt angle corresponding to one of the plurality of different calibration images as the tilt angle of the projection device relative to the inclined plane.

5. The calibration method according to claim 3 or 4, wherein The vehicle includes a rotating platform, and the projection device is assembled on the rotating platform; The adjusting the projection device according to the reference information includes: Controlling the rotating platform to rotate the projection device relative to the inclined plane by the tilt angle of the projection device relative to the inclined plane towards the inclined plane, so as to drive the projection device to adjust the tilt angle of the projection device relative to the inclined plane.

6. The calibration method according to claim 5, wherein, The rotation direction of the rotating platform is consistent with the tilt direction of the inclined plane relative to the ground directly below the vehicle.

7. The calibration method according to claim 5 or 6, wherein The rotation angle of the rotating platform is consistent with the tilt angle of the inclined plane relative to the ground directly below the vehicle.

8. The calibration method according to claim 2, wherein, After determining that there are obstacles on the actual projection ground, the determining the reference information of the projection device relative to the actual projection ground according to the actual projection ground information includes: Determining and marking the boundary line of the obstacle in the projection area.

9. The calibration method according to claim 8, wherein, The projection device includes a display component; the adjusting the projection device according to the reference information includes: Determining, based on the marked boundary line of the obstacle, a portion of the display components projected into the area of the obstacle; and A certain portion of the display components is controlled to be turned off so that the projection image in the area of the obstacle is not displayed.

10. The calibration method according to claim 8, wherein, The projection device includes an optical component; and adjusting the projection device according to the reference information includes: determining a maximum size of a projection image of the projection device according to the marked boundary line of the obstacle, wherein an edge of the projection image of the maximum size does not exceed the boundary line; The optical component is controlled to adjust the projection image of the projection device to the maximum size so that the projection area avoids the area of the obstacle. 11 . A computer-readable storage medium having a program stored thereon, wherein when the program is executed by a processor, the calibration method of the vehicle projection device according to claim 1 is implemented.

12. A calibration system for a vehicle projection device, comprising: One or more processors, configured to implement the calibration method for a vehicle projection device according to any one of claims 1 to 10.

13. A vehicle, comprising: The calibration system for a vehicle projection device as claimed in claim 12.

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