Projection control method and vehicle

Abstract

A projection control method and a vehicle, relating to the field of autonomous driving. In the method, by means of first environmental information of a vehicle, a projection apparatus and an HUD device are separately controlled to operate, such that a first pattern projected by the projection apparatus is used for indicating that there is a first object in an environment where the vehicle is located, and a first identifier displayed by the HUD device is used for identifying the relationship between the first pattern and the first object or the relationship between the vehicle and the first object. The first pattern and the first identifier can enable a driver to accurately understand the relationship between the vehicle and the surrounding environment, such that the driver makes more accurate judgments to better control the vehicle, and the driver participates in traffic more effectively, thereby reducing the occurrence probability of traffic accidents, and protecting the driver and passengers and the other traffic participants outside the vehicle.

Description

A projection control method and vehicle

[0001] This application claims priority to Chinese Patent Application No. 202410787056.X, filed on June 17, 2024, entitled “A Projection Control Method and Vehicle”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of autonomous driving, and more particularly to a projection control method and a vehicle. Background Technology

[0003] All vehicles are equipped with a head-up display (HUD) and indicator lights, which can provide corresponding reminders. The vehicles can be autonomous vehicles (self-piloting automobiles), also known as driverless vehicles, and can also be cars, trucks, motorcycles, public vehicles, lawnmowers, recreational vehicles, amusement park vehicles, trams, golf carts, trains, or handcarts, etc.

[0004] Current vehicle HUDs offer limited alerting functions, only indicating vehicle status. Similarly, existing vehicle indicator lights, such as headlights, taillights, and turn signals, also offer relatively limited alerting functions, only providing reminders or illuminating the driving path. Summary of the Invention

[0005] This application provides a projection control method and a vehicle, relating to the field of autonomous driving. The method can control the vehicle's HUD device and projection device based on the vehicle's first environmental information to assist the driver in better participating in traffic and improve driving safety.

[0006] In a first aspect, embodiments of this application provide a projection control method, comprising: acquiring first environmental information of a vehicle; controlling a projection device to project a first pattern into the environment in which the vehicle is located based on the first environmental information; and controlling a HUD device to display a first identifier based on the first environmental information. The first pattern is used to indicate the presence of a first object in the environment in which the vehicle is located, and the first identifier is used to identify the relationship between the first pattern and the first object, or the relationship between the vehicle and the first object.

[0007] This application embodiment uses the vehicle's first environmental information to control the operation of a projection device and a HUD device. The projection device projects a first pattern to indicate the presence of a first object in the vehicle's environment, and the HUD device displays a first identifier to indicate the relationship between the first pattern and the first object, or the relationship between the vehicle and the first object. The relationship between the first pattern and the first object can be, for example, the distance between the vehicle's lane markings and a pedestrian, or the distance between a turning sign and an intersection. The relationship between the vehicle and the first object can be, for example, the distance between the vehicle and a pedestrian, the distance between the vehicle and a static obstacle, or the relative speed between the vehicle and other vehicles. Therefore, the aforementioned first pattern and first identifier allow the driver to accurately understand the relationship between the vehicle and its surrounding environment, enabling the driver to make more accurate judgments and better control the vehicle, allowing the driver to participate more effectively in traffic, thereby reducing the probability of traffic accidents and protecting occupants and other road users outside the vehicle. Furthermore, based on the first pattern and the first sign, the driver can directly obtain the driving operation that the vehicle needs to perform next. For example, if the first pattern is a turning sign and the first sign indicates that the distance between the turning sign and the turning intersection is 50 meters, then the driver can directly know that "the turning operation needs to be performed at the intersection after 50 meters" based on the first pattern and the first sign. Obviously, this method also helps drivers participate in traffic better and improve driving safety.

[0008] Understandably, the first pattern projected by the projection device and the first sign displayed by the HUD device are both within the driver's field of vision, allowing the driver to obtain them without having to look up, turn their head, or nod. This enables the information presented by the first pattern and the first sign to be conveyed to the driver in a timely manner, allowing the driver to react and correctly control the vehicle to participate in traffic, thereby improving driving safety.

[0009] It is also understood that the embodiments of this application can leverage the advantages of both the HUD device and the projection device to assist drivers in better participating in traffic. For example, the projection device projects a first pattern, which on the one hand helps the driver better observe the surrounding environment of the vehicle, and on the other hand allows interaction with other road users outside the vehicle. However, due to limitations such as the resolution of the projection device or the smoothness of the road surface, the first pattern projected by the projection device often cannot clearly display some precise information (e.g., numbers, text, etc.). However, the HUD device can clearly display some precise information, thereby compensating for the insufficient resolution of the projection device. This allows the content superimposed by the projection device and the HUD device to better assist the driver in participating in traffic, while also accommodating interaction with other road users outside the vehicle.

[0010] Optionally, the vehicle's first environmental information includes information about the environment surrounding the vehicle and / or information about the environment in which the vehicle is located. The information about the environment surrounding the vehicle can be information obtainable through the vehicle's sensors, such as information obtainable through the vehicle's advanced driving assistance system (ADAS). The information about the environment in which the vehicle is located includes environmental information that the vehicle cannot directly perceive through its onboard sensors, such as map information about the area around the vehicle or information obtained through a vehicle-to-everything (V2X) wireless communication system.

[0011] Optionally, the projection device projects a first pattern into the environment in which the vehicle is located. For example, the projection device projects the first pattern onto one or more of the following: the ground in front of the vehicle, oncoming vehicles, obstacles, green belts, curbs, tunnel entrances, or height restriction frames.

[0012] In one possible implementation, after controlling the projection device to project the first pattern in the environment where the vehicle is located, the method further includes: acquiring the first pattern, and controlling the HUD device to display the first logo based on the first pattern and the first environmental information.

[0013] In the above embodiment, the projection device is first controlled to project a first pattern onto the vehicle's environment based on the first environmental information, and the first pattern is acquired. Then, the HUD device is controlled to display a first identifier based on the first pattern and the first environmental information. This allows the first pattern projected by the projection device and the first identifier displayed by the HUD device to blend better, enabling the first identifier to more accurately identify the relationship between the first pattern and the first object, or the relationship between the vehicle and the first object, thereby better assisting the driver in traffic and improving driving safety. It is understood that the first pattern projected by the projection device may also be deformed or misaligned due to factors such as road surface distortion or vehicle body sway. In this case, since the first identifier projected by the HUD device is determined based on the first pattern and the first environmental information, the first identifier projected by the HUD device can promptly follow the deformation or misalignment of the first pattern, avoiding situations where the first identifier cannot accurately blend with the first pattern.

[0014] It is understood that in the above embodiments, there will be a time interval between the projection of the first pattern by the projection device and the display of the first logo by the HUD device. Correspondingly, the vehicle's environment will also change to some extent. Therefore, controlling the HUD device to display the first logo based on the first environmental information may result in inaccurate display. In view of this, this application provides another possible implementation to reduce the various effects that may be caused by changes in the vehicle's environment.

[0015] In another possible implementation, after controlling the projection device to project the first pattern in the vehicle's environment, the method further includes: acquiring the first pattern and second environmental information of the vehicle, and controlling the HUD device to display the first logo based on the first pattern and the second environmental information.

[0016] In the above embodiments, the second environmental information can be information acquired simultaneously with the first pattern, or it can be understood as the most recently acquired information about the vehicle's environment. Clearly, controlling the HUD device to display the first icon based on the first pattern and the second environmental information allows for better integration of the first icon and the first pattern, presenting more accurate information, thereby better assisting the driver in traffic and improving driving safety.

[0017] In another possible implementation, the first identifier includes a locking frame for locking the first object.

[0018] In the above embodiments, the locking frame in the first identifier is used to lock the first object, which can help the driver better identify the first object. For example, if there is relative motion between the first object and the vehicle, and the first object is also in motion within the driver's field of vision, the locking frame in the first identifier helps the driver lock onto the first object and avoid losing track of it. As another example, if the driver's field of vision includes multiple objects similar to the first object, the locking frame in the first identifier can help the driver better distinguish the first object from other objects. Furthermore, if the boundaries of the first object are somewhat blurred, the locking frame in the first identifier can also help to better identify the boundaries of the first object.

[0019] In another possible implementation, the "relationship" between the first pattern and the first object, or between the vehicle and the first object, includes one or more of the following: distance, relative direction, or relative speed.

[0020] In the above embodiments, "relationship" includes one or more of distance, relative direction, or relative speed, so that the relationship between the vehicle and the surrounding environment can be accurately represented from multiple dimensions by the first pattern and the first mark, thereby enabling the driver to make more accurate judgments to better control the vehicle, enabling the driver to participate in traffic better, and thus reducing the probability of traffic accidents, so as to protect the occupants and other traffic participants outside the vehicle.

[0021] In another possible implementation, the first pattern is projected onto the first object, and the first identifier is also used to identify one or more of the shape, size, speed, or category of the first object.

[0022] In the above embodiments, the projection device projects a first pattern onto the first object. This illuminates the first object or key parts of it, helping the driver better identify the object or alerting them to its presence in the surrounding environment. Furthermore, by projecting the first pattern onto the first object in real time, the projection device can achieve real-time illumination. For example, if a pothole appears in front of a vehicle, the projection device projects a first pattern onto the pothole, with the pattern's shape and size matching the pothole's location. This provides real-time warning to the driver of the pothole, preventing the vehicle from falling into it and causing damage or endangering the lives of passengers. Similarly, if there is a height or width restriction frame in front of a vehicle, projecting a first pattern onto it also assists the driver. However, this method of projecting a first pattern onto the first object typically requires the driver to rely on experience and intuition to further assess the relationship between the vehicle and the object, making a driving decision. For drivers with insufficient experience, this can easily lead to misjudgments and traffic accidents. In view of this, the above embodiments also use a first identifier to identify one or more of the shape, size, speed or category of the first object, so that the driver can directly obtain the relationship between the vehicle and the first object, avoid misjudgment caused by insufficient driver experience, and thus reduce the probability of traffic accidents.

[0023] It is understood that the aforementioned first pattern and first logo can also be used to achieve other functions, such as interaction with other traffic participants or entertainment functions, and this application does not limit them.

[0024] In another possible implementation, the vehicle's environment also includes a second object, and the first identifier is also used to identify the relationship between the first object and the second object, or the relationship between the first pattern and the second object. The second object includes one or more of a pedestrian, another vehicle, a traffic sign, a curb, or an obstacle.

[0025] In the above embodiments, the vehicle's environment also includes a second object. The first identifier is also used to identify the relationship between the first object and the second object, or the relationship between the first pattern and the second object, so that the driver can clearly know one or more of the relationships between the first object and the second object, the relationship between the vehicle and the first object, or the relationship between the vehicle and the second object through the first identifier. This allows the driver to obtain more information and make more correct driving operations based on the information, thereby reducing the probability of traffic accidents and protecting the lives and property of traffic participants.

[0026] Optionally, the first pattern described above is also used to indicate that the environment in which the vehicle is located includes the second object described above.

[0027] Optionally, the first identifier also includes a locking box for locking the second object.

[0028] In another possible implementation, the first object includes one or more of the following: pedestrians, other vehicles, traffic signs, curbs, or obstacles.

[0029] It is understandable that the first object can be any object in the vehicle's environment. In addition to the objects listed above, the first object can also be a tunnel entrance, intersection, tree, railing, street light, or green belt, etc.

[0030] Optionally, the first object can also be an object that cannot be directly obtained by the vehicle's sensors, such as an object obtained through navigation data or a V2X system.

[0031] In another possible implementation, the first pattern and the first logo are used to identify vehicle driving information, which includes at least one of navigation information, driver assistance information, and vehicle data.

[0032] In the above embodiments, the vehicle's driving information is presented through the first pattern and the first logo, so that the driving information can be presented more directly, accurately and three-dimensionally in the driver's field of vision, enabling the driver to make necessary driving judgments more quickly, so as to assist the driver to participate in traffic better and improve driving safety.

[0033] Optionally, the navigation information mentioned above can be a series of planar coordinates indicating the vehicle's arrival at the navigation destination. Navigation information can also consist of various navigation instructions, such as turn signs, straight-ahead signs, U-turn signs, or destination information. The driving assistance information mentioned above can be from the vehicle's ADAS (Advanced Driver Assistance Systems). For example, driving assistance information can be driving intentions, such as going straight, changing lanes, turning, or entering an intersection. The driving assistance information mentioned above can also be emergency decisions, such as emergency braking, emergency avoidance, or vehicle malfunction. The driving assistance information mentioned above can also be vehicle driving prediction events, such as the vehicle being in a safe state or a dangerous state. Vehicle data can be key data displayed on the vehicle's instrument panel (fuel consumption, engine speed, temperature, etc.), vehicle speed information, steering wheel angle information, or vehicle attitude data.

[0034] In another possible implementation, the shape of the first pattern is a driving sign, which is used to indicate the driving intention of the vehicle, and the first mark is used to identify distance information related to the driving sign. The driving sign and the distance information depend on the driving information.

[0035] In the above embodiments, the first pattern is a driving sign, which indicates the vehicle's driving intention. The first mark is used to mark distance information related to the driving sign, so that the driver can determine the next driving operation and the timing of the driving operation based on the first pattern and the first mark, thereby assisting the driver to participate in traffic better and improving driving safety.

[0036] In another possible implementation, the width of the first pattern is equal to the width of the vehicle, and the first mark is used to indicate the distance between the boundary of the first pattern and the first object, or the distance between the vehicle and the first object.

[0037] In the above embodiments, the width of the first pattern is equal to the width of the vehicle, which helps the driver and other road users clearly understand the boundaries of the vehicle. When the first sign is used to indicate the distance between the boundary of the first pattern and the first object, it assists the driver in judging whether the vehicle will collide with the first object during subsequent driving, allowing the driver to make correct driving maneuvers. When the first sign is used to indicate the distance between the vehicle and the first object, it allows the driver to clearly understand the distance between the vehicle and the first object, allowing the driver to make reasonable driving maneuvers.

[0038] Optionally, the first mark is used to indicate the distance between the left / right boundary of the first pattern and the first object, or the first mark is used to indicate the distance between the two sides of the vehicle and the first object.

[0039] In another possible implementation, the length of the first pattern is equal to the distance between the vehicle and the first object, and the first mark is used to indicate the distance between the first pattern and the first object, or the distance between the vehicle and the first object.

[0040] In the above embodiments, the length of the first pattern is equal to the distance between the vehicle and the first object, and the first mark is used to mark the distance between the first pattern and the first object, or the distance between the vehicle and the first object, so that the driver can clearly understand the distance between the vehicle and the first object, so that the driver can make reasonable driving operations.

[0041] Optionally, the first mark is used to indicate the distance between the front of the vehicle and the first object.

[0042] In another possible implementation, the above implementation method further includes: acquiring third environmental information of the vehicle, controlling the HUD device to display a second identifier based on the third environmental information, the second identifier being used to identify the relationship between the vehicle and a third object in the environment where the vehicle is located, controlling the projection device to project a second pattern in the environment where the vehicle is located based on the second identifier, the second pattern being used to indicate the third object, or controlling the projection device to flash at a first frequency based on the second identifier to prompt the third object.

[0043] In the above embodiments, under the premise that the projection device projects a first pattern and the HUD device displays a first identifier, third environmental information is also acquired. Based on the third environmental information, the HUD device is controlled to display a second identifier, and then the projection device is controlled to project a second pattern based on the second identifier. This allows the pattern projected by the projection device to be determined based on the second identifier displayed on the HUD device, enabling the projection device to cooperate with the HUD device to project the required pattern, thereby assisting the driver in driving the vehicle. For example, if another vehicle may collide with the vehicle, the identifier projected by the HUD device serves as a warning to the driver of the collision risk. The driver can then control the projection device to project a specified pattern based on the identifier projected by the HUD device. For example, the projection device can be controlled to flash at a first frequency to warn other vehicles of the collision risk. Another example is controlling the projection device to project a second pattern to illuminate a third object, thereby alerting the driver.

[0044] Optionally, the first frequency can be 10 times / minute or 20 times / minute.

[0045] In another possible implementation, the above implementation method further includes: controlling the projection device to project a third pattern in the environment where the vehicle is located based on the first mark, the third pattern being used to indicate the first object; or, controlling the projection device to flash at a second frequency based on the first mark to prompt the first object.

[0046] In the above embodiments, by controlling the projection device to project a third pattern in the vehicle's environment based on the first identifier to indicate or prompt the first object, the effect of controlling the projection device through the first identifier can be achieved, thereby allowing the projection device to project the required pattern, which in turn works with the HUD device to better assist the driver in participating in traffic, or to meet the interaction needs between the vehicle and other vehicles.

[0047] Optionally, the second frequency can be 10 times / minute or 20 times / minute.

[0048] In another possible implementation, the above method further includes: controlling the projection device to project a fourth pattern into the vehicle's environment based on the first environmental information, the fourth pattern being consistent with the shape of the road segment the vehicle is about to travel on. Controlling the HUD device to display a third identifier based on the first environmental information, the third identifier being used to identify the name of the road segment to be traveled on, and / or the destination corresponding to the road segment.

[0049] In the above embodiments, by projecting a pattern that matches the shape of the road segment to be driven onto the road segment to be driven, and then displaying the name of the road segment to be driven and / or the destination corresponding to the road segment to be driven on with the HUD device, the driver can easily and accurately obtain the vehicle's next driving segment and corresponding destination through the content projected by the projection device and the HUD device, thereby assisting the driver to better participate in traffic and improve driving safety.

[0050] In another possible implementation, the environment in which the vehicle is located includes the ground in front of the vehicle, obstacles, green belts, curbs, tunnel entrances, height restriction frames, or one or more of other objects.

[0051] In another possible implementation, the vehicle also includes headlights, on which the projection device is deployed.

[0052] Secondly, embodiments of this application provide a projection control method, including: acquiring fourth environmental information of a vehicle; controlling a HUD device to display a fourth identifier based on the fourth environmental information; and controlling a projection device to project a fifth pattern in the environment where the vehicle is located based on the fourth identifier. The vehicle includes a projection device and a HUD device. The fourth identifier is used to identify the relationship between the vehicle and a fourth object, and the fifth pattern is used to indicate the fourth object, or flashes at a third frequency to prompt the fourth object.

[0053] Optionally, the third frequency can be 10 times / minute or 20 times / minute.

[0054] In one possible implementation, the fourth identifier includes a locking frame for locking the first object.

[0055] In another possible implementation, the relationship between the fifth pattern and the fourth object, or the relationship between the vehicle and the fourth object, includes one or more of the following: distance, relative direction, or relative speed.

[0056] In another possible implementation, the fifth pattern is projected onto the fourth object, and the fourth identifier is also used to identify one or more of the shape, size, speed, or category of the fourth object.

[0057] In another possible implementation, the fourth object includes one or more of the following: pedestrians, other vehicles, traffic signs, curbs, or obstacles.

[0058] In another possible implementation, the vehicle also includes headlights, on which the projection device is deployed.

[0059] Thirdly, embodiments of this application provide a projection system, including an acquisition unit, a control unit, a projection device, and a HUD device. The acquisition unit acquires first environmental information about the vehicle. The control unit controls the projection device to project a first pattern onto the vehicle's environment based on the first environmental information, and controls the HUD device to display a first identifier based on the first environmental information. The first pattern indicates the presence of a first object in the vehicle's environment, and the first identifier identifies the relationship between the first pattern and the first object, or the relationship between the vehicle and the first object.

[0060] In one possible implementation, after the projection device projects a first pattern into the vehicle's environment, the acquisition unit is further configured to acquire the first pattern. The control unit is also configured to control the HUD device to display a first logo based on the first pattern and first environmental information.

[0061] In another possible implementation, after the projection device projects the first pattern into the vehicle's environment, the acquisition unit is further configured to acquire the first pattern and second environmental information about the vehicle. The control unit is also configured to control the HUD device to display a first logo based on the first pattern and the second environmental information.

[0062] In another possible implementation, the first identifier includes a locking frame for locking the first object.

[0063] In another possible implementation, the "relationship" between the first pattern and the first object, or between the vehicle and the first object, includes one or more of the following: distance, relative direction, or relative speed.

[0064] In another possible implementation, the first pattern is projected onto the first object, and the first identifier is also used to identify one or more of the shape, size, speed, or category of the first object.

[0065] In another possible implementation, the vehicle's environment also includes a second object, and the first identifier is also used to identify the relationship between the first object and the second object, or the relationship between the first pattern and the second object. The second object includes one or more of a pedestrian, another vehicle, a traffic sign, a curb, or an obstacle.

[0066] In another possible implementation, the first object includes one or more of the following: pedestrians, other vehicles, traffic signs, curbs, or obstacles.

[0067] In another possible implementation, the first pattern and the first logo are used to identify vehicle driving information, which includes at least one of navigation information, driver assistance information, and vehicle data.

[0068] In another possible implementation, the shape of the first pattern is a driving sign, which is used to indicate the driving intention of the vehicle, and the first mark is used to identify distance information related to the driving sign. The driving sign and the distance information depend on the driving information.

[0069] In another possible implementation, the width of the first pattern is equal to the width of the vehicle, and the first mark is used to indicate the distance between the boundary of the first pattern and the first object, or the distance between the vehicle and the first object.

[0070] In another possible implementation, the length of the first pattern is equal to the distance between the vehicle and the first object, and the first mark is used to indicate the distance between the first pattern and the first object, or the distance between the vehicle and the first object.

[0071] In another possible implementation, the acquisition unit is further configured to acquire third environmental information about the vehicle, and the control unit is further configured to control the HUD device to display a second identifier based on the third environmental information. The control unit is also configured to control the projection device to project a second pattern into the vehicle's environment based on the second identifier, or to control the projection device to flash at a first frequency to indicate a third object. The second identifier is used to identify the relationship between the vehicle and a third object in the vehicle's environment, and the second pattern is used to indicate the third object.

[0072] In another possible implementation, the control unit is further configured to control the projection device to project a third pattern in the vehicle's environment based on the first identifier, or to control the projection device to flash at a second frequency based on the first identifier to indicate the first object. The third pattern is used to indicate the first object.

[0073] In another possible implementation, the control unit is further configured to control the projection device to project a fourth pattern into the vehicle's environment based on the first environmental information, and then control the HUD device to display a third identifier based on the first environmental information. The fourth pattern corresponds to the shape of the road segment the vehicle is about to travel on, and the third identifier identifies the name of the road segment and / or the destination corresponding to the road segment.

[0074] In another possible implementation, the projection device described above is deployed in the vehicle's headlights.

[0075] Fourthly, embodiments of this application provide a projection system, including an acquisition unit, a control unit, a projection device, and a HUD device. The acquisition unit acquires fourth environmental information about the vehicle. The control unit controls the HUD device to display a fourth identifier based on the fourth environmental information. Then, based on the fourth identifier and the fourth environmental information, the control unit controls the projection device to project a fifth pattern into the vehicle's environment, or controls the projection device to flash at a third frequency to indicate a fourth object. The fourth identifier identifies the relationship between the fifth pattern and the fourth object, or the relationship between the vehicle and the fifth object, while the fifth pattern indicates the fourth object.

[0076] In one possible implementation, the fourth identifier includes a locking frame for locking the first object.

[0077] In another possible implementation, the relationship between the fifth pattern and the fourth object, or the relationship between the vehicle and the fourth object, includes one or more of the following: distance, relative direction, or relative speed.

[0078] In another possible implementation, the fifth pattern is projected onto the fourth object, and the fourth identifier is also used to identify one or more of the shape, size, speed, or category of the fourth object.

[0079] In another possible implementation, the fourth object includes one or more of the following: pedestrians, other vehicles, traffic signs, curbs, or obstacles.

[0080] In another possible implementation, the projection device described above is deployed in the vehicle's headlights.

[0081] Fifthly, embodiments of this application also provide a terminal device, which includes the projection system described in any one of the third or fourth aspects above.

[0082] Sixthly, embodiments of this application also provide a vehicle, which includes the projection system described in any one of the third or fourth aspects above, or the terminal device described in the fifth aspect.

[0083] In a seventh aspect, a program is provided that, when executed by a processor, performs the method provided by any one of the first or second aspects described above.

[0084] Eighthly, a program product, such as a computer-readable storage medium, is provided, comprising the program of any one of the first or second aspects described above.

[0085] Ninth aspect, a computer-readable storage medium is provided, including a program, which, when run by a processor, performs the method provided in either the first or second aspect.

[0086] In a tenth aspect, embodiments of this application provide a chip including a processor, the processor being configured to execute instructions, which, when executed, cause the chip to perform the collision risk determination method described in either the first or second aspect above.

[0087] The beneficial effects of some solutions in aspects three through ten of this application can be referenced to the beneficial effects of the technical solution in aspect one. Attached Figure Description

[0088] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0089] Figure 1 is a functional block diagram of an embodiment of the vehicle provided in this application;

[0090] Figure 2 is a schematic diagram of the functional division of a projection control system provided in an embodiment of this application;

[0091] Figure 3 is a schematic flowchart of a projection control method provided in an embodiment of this application;

[0092] Figures 4A to 4C are schematic diagrams of the first scenario provided in the embodiments of this application;

[0093] Figure 5 is a schematic diagram of the second scenario provided in the embodiments of this application;

[0094] Figure 6 is a schematic diagram of the third scenario provided in the embodiments of this application;

[0095] Figures 7A and 7B are schematic diagrams of the fourth scenario provided in the embodiments of this application;

[0096] Figures 8A to 8C are schematic diagrams of the fifth scenario provided in the embodiments of this application;

[0097] Figure 9 is a schematic diagram of the sixth scenario provided in the embodiments of this application;

[0098] Figures 10A to 10C are schematic diagrams of the seventh scenario provided in the embodiments of this application;

[0099] Figures 11A to 11C are schematic diagrams of the eighth scenario provided in the embodiments of this application;

[0100] Figures 12A and 12B are schematic diagrams of the ninth scenario provided in the embodiments of this application;

[0101] Figures 13A and 13B are schematic diagrams of the tenth scenario provided in the embodiments of this application;

[0102] Figures 14A and 14B are schematic diagrams of the eleventh scenario provided in the embodiments of this application;

[0103] Figures 15A and 15B are schematic diagrams of the twelfth scenario provided in the embodiments of this application;

[0104] Figures 16A and 16B are schematic diagrams of the thirteenth scenario provided in the embodiments of this application;

[0105] Figure 17 is a flowchart illustrating another projection control method provided in an embodiment of this application;

[0106] Figure 18 is a flowchart illustrating another projection control method provided in an embodiment of this application;

[0107] Figures 19A to 19D are schematic diagrams of the fourteenth scenario provided in the embodiments of this application;

[0108] Figures 20A and 20B are schematic diagrams of the fifteenth scenario provided in the embodiments of this application. Detailed Implementation

[0109] The embodiments described in this application are merely some, not all, of the embodiments described herein. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0110] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In this application, "at least one" means one or more, and "more than one" means two or more. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0111] First, the vehicle used in this application will be described, referring to Figure 1, which is a functional block diagram of one embodiment of the vehicle provided in this application. It should be noted that the vehicle 100 can be set to a fully intelligent driving mode or a partially intelligent driving mode. Understandably, when the vehicle 100 is set to a fully intelligent driving mode, the vehicle 100 can perform corresponding operations without human interaction, including but not limited to acceleration, deceleration, and following. When the vehicle 100 is set to a partially intelligent driving mode, the vehicle 100 can not only automatically perform corresponding operations, but also be operated by the driver. For example, determining the vehicle and its surrounding environment, determining the possible behaviors of at least one other vehicle in the surrounding environment, determining the confidence level corresponding to the probability of the other vehicle performing the possible behavior, and then controlling the vehicle 100 based on the determined information.

[0112] Vehicle 100 may include various subsystems, such as an advanced driving assistance system (ADAS) 110, a sensing system 120, one or more peripheral devices 130, a computer system 140, a projection device 150, and a head-up display (HUD) device 160. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of vehicle 100 can be interconnected in various ways, for example, via wired or wireless means.

[0113] ADAS110 is used in vehicle 100 to sense the surrounding environment, collect data, identify, detect, and track static and dynamic objects during driving, and combine this data with navigation map data for system calculation and analysis. This allows the driver to anticipate potential dangers, increasing driving comfort and safety. For example, ADAS110 can control the vehicle using data acquired by sensor system 120. Alternatively, ADAS110 can control the vehicle using in-vehicle data, which may include key data from the vehicle's instrument panel (fuel consumption, engine speed, temperature, etc.), vehicle speed information, steering wheel angle information, or vehicle attitude data.

[0114] The ADAS110 can control the vehicle in one or more of the following ways:

[0115] ADAS 110 adjusts the forward direction of vehicle 100. ADAS 110 controls the operating speed of the vehicle's engine and thus the speed of vehicle 100. ADAS 110 operates on images captured by camera 125 to identify objects and / or features in the environment surrounding vehicle 100. In some embodiments, ADAS 110 may be used to map the environment, locate objects, estimate the speed of objects, etc. ADAS 110 determines the driving route of vehicle 100, and in some embodiments, ADAS 110 may combine one or more predetermined map data from sensor system 120 to determine the driving route for vehicle 100. ADAS 110 may identify, assess, and avoid or otherwise traverse potential obstacles in the environment of vehicle 100.

[0116] The sensing system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 120 may include a positioning system 121 (which may be a Global Positioning System (GPS) system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU) 122, a radar 123, a laser rangefinder 124, and a camera 125. The sensing system 120 may also include sensors from systems inside the vehicle 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.), which is a key function for the safe operation of the autonomous vehicle 100. The positioning system 121 can be used to estimate the geographical location of the vehicle 100. The IMU 122 is used to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, IMU 122 may be a combination of an accelerometer and a gyroscope, in which case IMU 122 can be used to measure the curvature of vehicle 100. Radar 123 may use radio signals to sense the surrounding environment of vehicle 100, which includes, but is not limited to, surrounding vehicles, infrastructure, and pedestrians. In some embodiments, radar 123 may be used to sense the speed and / or direction of travel of objects in addition to sensing objects. This application does not limit the specific type of radar 123; for example, radar 123 may be millimeter-wave radar or lidar. Laser rangefinder 124 may use lasers to sense objects in the environment in which vehicle 100 is located. In some embodiments, laser rangefinder 124 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. Camera 125 may be used to capture multiple images of the surrounding environment of vehicle 100. Camera 125 may be a still camera, a video camera, a monocular / binocular camera, or an infrared imager.

[0117] Vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users via peripheral devices 130. Peripheral devices 130 may include a wireless communication system 131, an on-board computer 132, a microphone 133, and / or a speaker 134.

[0118] It should be noted that in some embodiments, the peripheral device 130 provides a means for the user of vehicle 100 to interact with a user interface. For example, the on-board computer 132 can provide information to the user of vehicle 100. The user interface can also operate the on-board computer 132 to receive user input. The on-board computer 132 can be operated via a touchscreen. In other cases, the peripheral device 130 provides a means for vehicle 100 to communicate with other devices located within the vehicle. For example, the microphone 133 can receive audio (e.g., voice commands or other audio input) from the user of vehicle 100. Similarly, the speaker 134 can output audio to the user of vehicle 100.

[0119] The wireless communication system 131 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 131 can use third-generation (3G) cellular communication technologies, such as Code Division Multiple Access (CDMA), Global System for Mobile Communications (GSM), or General Packet Radio Service (GPRS). The wireless communication system 131 can also use fourth-generation (4G) cellular communication technologies, such as Long Term Evolution (LTE). The wireless communication system 131 can also use fifth-generation (5G) cellular communication technologies. The wireless communication system 131 can communicate using a wireless local area network (WLAN). In some embodiments, the wireless communication system 131 can communicate directly with devices using an infrared link, Bluetooth, or ZigBee. The wireless communication system 131 may also utilize various vehicle communication systems. For example, the wireless communication system 131 may include one or more dedicated short-range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0120] Some or all of the functions of vehicle 100 are controlled by computer system 140. Computer system 140 can control the functions of vehicle 100 based on input received from various systems (e.g., sensor system 120, ADAS 110, peripheral devices 130) and from a user interface. Computer system 140 may include at least one processor 141 that executes instructions stored in a non-transitory computer-readable medium such as memory 142. Computer system 140 may also be multiple computing devices controlling individual components or subsystems of vehicle 100 in a distributed manner.

[0121] This embodiment does not limit the type of processor 141. For example, the processor 141 may be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system-on-chips (SoCs), central processing units (CPUs), network processors (NPs), digital signal processing circuits (DSPs), microcontroller units (MCUs), programmable logic devices (PLDs), or other integrated chips, or any combination of the above chips or processors. The processor 141 may be located inside the vehicle, or it may be located remotely from the vehicle and wirelessly communicate with it.

[0122] Although Figure 1 functionally illustrates devices such as processors, memory, and computers, those skilled in the art will understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, memory may be a hard disk drive or other storage media located in a housing different from that of a computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration assemblies, may each have their own processor that performs calculations only related to the component's specific function.

[0123] In some embodiments, memory 142 may contain instructions (e.g., program logic) that can be executed by processor 141 to perform various functions of vehicle 100. In addition to instructions, memory 142 may also store data such as map data, route information, vehicle position, direction, speed, and other vehicle data. The information stored in memory 142 can be used by vehicle 100 and computer system 140 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes. For example, the current speed of vehicle 100 can be adjusted based on road information of the target road segment and the received target vehicle speed range, thereby enabling vehicle 100 to follow other vehicles at a constant speed.

[0124] Optionally, vehicle 100 may also include one or more of a travel system, a control system, a power supply, or a user interface.

[0125] The propulsion system may include components that power the vehicle 100. In one embodiment, the propulsion system may include an engine, an energy source, a transmission, and wheels / tires. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy.

[0126] The control system can be used to control the operation of the vehicle 100 and its components. The control system may include multiple elements; in one embodiment, the control system includes a steering system, actuators, a braking unit, a computer vision system, a route control system, an obstacle avoidance system, and a high / low beam switching system.

[0127] Computer vision systems can be used to process and analyze images captured by vision sensors for subsequent operations. They can also identify the surrounding environment of a vehicle 100, the characteristics of objects within that environment, and their motion states. The surrounding environment may include traffic signals, road boundaries, and obstacles. The characteristics of objects within the surrounding environment include, but are not limited to, their surface optical properties, and the motion states include, but are not limited to, being stationary, accelerating, or decelerating. Computer vision systems can utilize color space conversion techniques, object recognition algorithms, Structure from Motion (SFM) algorithms, video localization, and other computer vision techniques. In some embodiments, the computer vision system includes an image detection system, a neural network-based processing system, etc., and can be used to map the environment, locate objects, estimate object speeds, etc.

[0128] The power source can provide power to various components of the vehicle 100. In one embodiment, the power source may include one or more battery packs, wherein the batteries in the battery packs may be rechargeable lithium-ion batteries or lead-acid batteries. It will be understood that in some embodiments, the power source and the energy source may be implemented together.

[0129] The user interface is used to provide information to or receive information from the user of vehicle 100. Optionally, the user interface may include interfaces required by one or more input / output devices in the peripheral devices, such as a universal serial bus (USB) interface, an audio input (auxiliary, AUX) interface, or an on-board diagnostics (OBD) interface.

[0130] The vehicle 100 also includes a projection device 150, which can project a specified pattern into the environment surrounding the vehicle, and can also project a specified pattern onto an object in the environment surrounding the vehicle.

[0131] The vehicle 100 also includes a HUD device 160, which is capable of displaying designated logos.

[0132] Optionally, the projector 150 and the HUD device 160 can be controlled by a single controller, or two controllers can be used to control the projector 150 and the HUD device 160 respectively; this application does not limit this. The projector 150 and the HUD device 160 shown in this embodiment can be applied not only to vehicles, but also to driving vehicles such as ships, airplanes, and helicopters.

[0133] It should be noted that the above-mentioned modules and their components may be added, replaced, or deleted according to actual needs, and this application does not impose any restrictions on this. The above-mentioned vehicle 100 may be a car, truck, motorcycle, bus, ship, recreational vehicle, amusement park vehicle, construction equipment, tram, train, etc., and the embodiments of this application do not limit this.

[0134] It is understood that the structural schematic diagram of vehicle 100 shown in Figure 1 is only an exemplary implementation of the present application, and the vehicle in the present application includes, but is not limited to, the above structure.

[0135] This application provides a projection control system for controlling a projection device and a HUD device to project images. The projection control system acquires environmental information about the vehicle and then controls the projection device to project a first pattern and the HUD device to display a first identifier based on the acquired environmental information. The first pattern indicates a first object in the vehicle's environment, and the first identifier identifies the relationship between the first pattern and the first object; alternatively, the first identifier identifies the relationship between the vehicle and the first object. The internal units of the projection control system can be divided in various ways, and this application does not limit this division. Figure 2 shows an exemplary division method. As shown in Figure 2, the functions of each functional unit will be described below.

[0136] The projection control system 200 includes an acquisition unit 210 and a control unit 220. The acquisition unit 210 acquires environmental information about the vehicle, including information about the surrounding environment and / or the environment in which the vehicle is located. The information about the surrounding environment can be obtained through the vehicle's sensors, such as information obtained through the vehicle's ADAS 110. The information about the environment in which the vehicle is located includes environmental information that the vehicle cannot directly perceive through its own sensors, such as map information about the surrounding area or information obtained through a V2X system. Of course, the aforementioned environmental information can also be information obtained through processing, fusion, or inference, such as speed information obtained based on the position information of an object at multiple time points. Furthermore, the aforementioned environmental information can also be information acquired by the sensing system 120 and processed by a computer vision system. The control unit 220 controls the projection device and HUD device to project based on the environmental information acquired by the acquisition unit 210, so that the content projected by the projection device and HUD device can better assist the driver in driving the vehicle in the current scene. Optionally, the control unit may be a processor 141, or a controller composed of a projection device controller and a HUD controller, or a controller capable of controlling the projection device and the HUD device.

[0137] It is understood that the content projected by the projection device and HUD device in this application is intended to better assist drivers in traffic participation and improve driving safety. Regarding how to control the projection device and HUD device to project, the following situations can be considered:

[0138] Scenario 1: Based on the environmental information acquired by the acquisition unit 210, the projection device and HUD device are controlled to project simultaneously.

[0139] Scenario 2: First, based on the environmental information acquired by the acquisition unit 210, control the projection device to project a pattern in the vehicle's environment. Then, acquire the pattern projected by the projection device in the environment through the acquisition unit 210, and control the HUD device to project the target label based on the pattern acquired by the acquisition unit 210.

[0140] Scenario 3: First, based on the environmental information acquired by the acquisition unit 210, control the HUD device to project the target identifier. Then, based on the target identifier, control the projection device to project a pattern in the vehicle's environment.

[0141] Of course, the new solutions obtained by combining the above three situations also fall within the protection scope of this application. For the sake of brevity, they will not be described in detail here. For example, the combination of the above "situation one" and "situation three" is based on the environmental information obtained by the control unit 210, which simultaneously controls the projection device and the HUD device to project, and then controls the projection device to project a new solution based on the target mark projected by the HUD device.

[0142] Next, the control methods for "Scenario 1", "Scenario 2" and "Scenario 3" will be described by way of example. For "Scenario 1", please refer to Figure 3; for "Scenario 2", please refer to Figure 17; and for "Scenario 3", please refer to Figure 18.

[0143] Please refer to Figure 3, which is a flowchart illustrating a projection control method provided in an embodiment of this application. The projection control method shown in Figure 3 represents "Scenario 1" as described above. The projection control method shown in Figure 3 may include one or more steps S301 to S303B. For example, some solutions may only include steps S301 and S303B. It should be understood that, for ease of description, the description is presented in the order of steps S301 to S303B, and is not intended to limit the execution to this specific order. This application embodiment does not limit the order of execution, execution time, or number of executions of the above one or more steps. Steps S301 to S303B are detailed as follows:

[0144] S301, The acquisition unit acquires the first environmental information of the vehicle.

[0145] The relevant description of the acquisition unit can be found in the introduction of acquisition unit 210 above, and will not be repeated here. The first environmental information includes information about the environment surrounding the vehicle, and / or information about the environment in which the vehicle is located. The description of the information about the environment surrounding the vehicle and the environment in which the vehicle is located can also be found in the corresponding descriptions above, and will not be repeated here.

[0146] S302, The acquisition unit sends the first environmental information to the control unit.

[0147] The relevant description of the control unit can be found in the description of control unit 220 above, and will not be repeated here. Regarding the specific method by which the acquisition unit sends the first environmental information to the control unit, it can be via wired communication or wireless communication; this application does not limit this. For example, the acquisition unit can send the first environmental information to the control unit via a controller area network (CAN) bus.

[0148] S303A, the control unit controls the projection device to project the first pattern based on the first environmental information.

[0149] S303B, the control unit controls the HUD device to display the first identifier based on the first environmental information.

[0150] It should be noted that this application does not limit the order in which S303A and S303B are executed. For example, S303A can be executed simultaneously, or in the order of S303A and S303B, or in the order of S303B and S303A. The key point is that the environmental information used by the controller to control the projection device or HUD device is the same.

[0151] In one possible implementation, the aforementioned first pattern is used to indicate the presence of a first object in the vehicle's environment, and the first identifier is used to identify the relationship between the first pattern and the first object, or the first identifier is used to identify the relationship between the vehicle and the first object. The first object can be various objects in the vehicle's environment, and can also be an object composed of one or more objects. For example, the first object can be another vehicle, a pedestrian, an obstacle, a curb, an intersection, a pothole, a green belt, a traffic sign, a height restriction frame, a tunnel entrance, or a road direction, etc. The "relationship" in the aforementioned relationship between the first pattern and the first object, or the relationship between the vehicle and the first object, can refer to a positional relationship, a speed relationship, or an indicative relationship, etc. Positional relationships include distance, relative position, or relative direction, and speed relationships include relative speed, relative acceleration, or relative deceleration, etc.

[0152] In another possible implementation, the projection device projects the first pattern, which can be done by projecting the first pattern into the environment in which the vehicle is located. For example, the projection device can project the first pattern onto one or more of the following objects: the ground in front of the vehicle, obstacles, green belts, curbs, tunnel entrances, height restriction frames, or other vehicles. Examples of the projection device projecting the first pattern can be found in the corresponding descriptions below.

[0153] Optionally, the projection device can be deployed in the vehicle's headlights, or partially deployed in the vehicle's headlights and partially deployed in other locations on the vehicle, or the projection device can be deployed entirely outside the headlights. Of course, the headlights can also be considered as part of the projection device.

[0154] For a detailed description of the first pattern and the first logo mentioned above, please refer to the implementation method shown below.

[0155] Please refer to Figure 4A. Figure 4A shows a car directly in front of the vehicle and another car to the right, as well as a pedestrian at the zebra crossing in the distance. Understandably, in poor lighting conditions (e.g., at dusk or night) or when visibility is obstructed, drivers may have difficulty spotting pedestrians at the zebra crossing, increasing the risk of traffic accidents.

[0156] In the scenario shown in Figure 4B, the first pattern includes a pedestrian sign and an arrow, the first marker includes the words "50 meters," and the first object is a pedestrian. As can be seen from Figure 4B, the first pattern and the first marker can remind the driver that there is a pedestrian 50 meters ahead on the road, thus prompting the driver to drive cautiously and avoid traffic accidents.

[0157] Optionally, the first pattern changes with the relative position of the vehicle and the first object. For example, an arrow moves with the movement of a pedestrian and points to the pedestrian's location. Similarly, a pedestrian sign moves with the movement of the vehicle and is projected at a preset position in front of the vehicle. Likewise, the first marker also changes with the relative position of the vehicle and the first object. For example, the word "50 meters" changes with the distance between the vehicle and the pedestrian. Specifically, if the actual distance between the vehicle and the pedestrian changes to 49 meters, the HUD device will update the word "50 meters" to "49 meters". Furthermore, the wording of the first marker also moves with the movement of an arrow and is displayed at a preset position on the arrow (e.g., the middle of the arrow).

[0158] Optionally, the first sign may refer to the distance between the pedestrian sign and the first object, or the distance between the vehicle and the first object, or the distance between the front of the vehicle and the first object, etc.

[0159] As can be seen, the aforementioned first pattern and first symbol enable the driver to accurately understand the relationship between the vehicle and the surrounding environment (the first object in the surrounding environment), thereby allowing the driver to make more accurate judgments and better control the vehicle, enabling the driver to participate more effectively in traffic, and thus reducing the probability of traffic accidents, protecting the occupants and other road users outside the vehicle. Of course, Figures 4A and 4B above are just one example provided by this application, and more possible examples will be introduced as the content unfolds, which will not be detailed here.

[0160] Understandably, the first pattern projected by the projection device and the first sign displayed by the HUD device are both within the driver's field of vision, allowing the driver to obtain them without having to look up, turn their head, or nod. This enables the information presented by the first pattern and the first sign to be conveyed to the driver in a timely manner, allowing the driver to react and correctly control the vehicle to participate in traffic, thereby improving driving safety.

[0161] In another possible implementation, the first identifier includes a locking box used to lock the first object.

[0162] Please refer to Figure 4C. Compared to the first marker shown in Figure 4B, Figure 4C adds a locking frame. Specifically, the first marker in Figure 4C includes the words "50 meters" and the locking frame. As shown in Figure 4C, the locking frame is used to lock onto pedestrians, allowing drivers to better identify pedestrians and their locations. Furthermore, as vehicles and pedestrians move, pedestrians will continuously move within the driver's field of vision. The locking frame will also continuously lock onto the first object, enabling the driver to accurately observe the pedestrian and avoid losing track of them. Clearly, the real-time locking of pedestrians by the locking frame also helps drivers better distinguish pedestrians from other objects.

[0163] As can be seen, the locking frame in the first sign is used to lock onto the first object, helping the driver to better identify it. For example, if there is relative motion between the first object and the vehicle, and the first object is also in motion within the driver's field of vision, the locking frame in the first sign helps the driver lock onto the first object, preventing loss of focus. Furthermore, if the driver's field of vision includes multiple objects similar to the first object, the locking frame in the first sign helps the driver better distinguish the first object from the others. Additionally, if the boundaries of the first object are somewhat blurred, the locking frame in the first sign can further help to better identify the boundaries of the first object.

[0164] In another possible implementation, the "relationship" between the first pattern and the first object, or between the vehicle and the first object, includes one or more of the following: distance, relative direction, or relative speed.

[0165] For example, the first identifier can be used to identify the distance, relative direction, or relative speed between the first pattern and the first object; the first identifier can also be used to identify the distance, relative direction, or relative speed between a vehicle and the first object. For example, in the scenario shown in Figure 5, the first object includes two vehicles, the first pattern includes two arrows, and the first identifier includes the text "Distance: 35 meters, Relative direction: Directly ahead, Relative speed: 10 km / h" and the text "Relative direction: Right front". As can be seen from Figure 5, the two arrows point to the two vehicles respectively, and the two identifiers are located on the two arrows respectively, used to identify the relationship between the other vehicle and the vehicle itself. For example, the text "Distance: 35 meters, Relative direction: Directly ahead, Relative speed: 10 km / h" is used to indicate that the other vehicle is directly in front of the vehicle itself, the distance between the other vehicle and the vehicle itself is 35 meters, and the relative speed between the other vehicle and the vehicle itself is 10 km / h. As another example, the text "Relative direction: Right front" is used to indicate that the other vehicle is to the right front of the vehicle itself, or that there is a vehicle to the right front of the vehicle itself.

[0166] Optionally, the relative speed in this application can be the relative speed of the vehicle relative to another vehicle, or it can be the relative speed of another vehicle relative to the vehicle itself; this application does not limit this. For example, if the relative speed is the relative speed of the vehicle relative to another vehicle, a relative speed of 10 km / h means that the vehicle is 10 km / h faster than the other vehicle. As another example, if the relative speed is the relative speed of another vehicle relative to the vehicle itself, a relative speed of 10 km / h means that the vehicle is 10 km / h slower than the other vehicle.

[0167] It is evident that when the aforementioned "relationship" includes one or more of the following: distance, relative direction, or relative speed, the first pattern and the first sign can accurately represent the relationship between the vehicle and its surrounding environment from multiple dimensions. This allows the driver to make more accurate judgments and better control the vehicle, enabling the driver to participate more effectively in traffic and thereby reducing the probability of traffic accidents, thus protecting the occupants and other road users outside the vehicle.

[0168] Optionally, the first object, the first pattern, and the first identifier can be one or more, and this application does not limit this. For example, in the scenario shown in Figure 4B above, there is one first object, one first pattern, and one first identifier; in the scenario shown in Figure 5 above, there are two objects, one first pattern, and one first identifier.

[0169] Furthermore, to better assist drivers in participating in traffic, the first sign may also include prompts or warnings.

[0170] For example, in the scenario shown in Figure 6, the first object includes the vehicle in front, the first pattern includes an arrow, and the first label includes the words "distance between the two vehicles is less than the braking distance". As can be seen from Figure 6, the arrow points from the vehicle to the vehicle in front, and "distance between the two vehicles is less than the braking distance" means that the distance between the vehicle and the vehicle in front is less than the vehicle's braking distance. This is used to remind the driver that a traffic accident is likely to occur under the current conditions, so that the driver can take timely action to avoid a traffic accident.

[0171] In another possible implementation, the first pattern is projected onto the first object, and the first identifier is also used to identify one or more of the shape, size, speed, or category of the first object. Here, "the first pattern is projected onto the first object" can mean that the first pattern is projected onto all or part of the surface of the first object. For a detailed description, please refer to the relevant descriptions in Figures 7A to 7B and Figures 8A to 8C below.

[0172] Please refer to Figure 7A. As can be seen from Figure 7A, there is a pothole in the road in front of the vehicle. Under poor lighting conditions, potholes are not easily noticed by the driver, or the driver may not be able to control the vehicle to avoid them effectively when he notices them, which can easily cause damage to the vehicle or threaten the life and property safety of the occupants.

[0173] In the scenario shown in Figure 7B, the first object includes a pothole, the first pattern includes a light spot similar to the edge of the pothole, and the first marker includes the words "25 meters" and a locking frame. As can be seen from Figure 7B, while the first pattern illuminates the pothole, the locking frame in the first marker also identifies it. Combined with the distance indication text in the first marker, this allows the driver to promptly detect potholes in the middle of the road and the distance between the pothole and their vehicle. This provides the driver with sufficient time to take evasive action, thereby preventing damage to the vehicle from the pothole and protecting the lives and property of passengers.

[0174] Optionally, the first identifier is also used to identify the category of the first object. For example, the first identifier may also include the words "pothole road surface" to indicate that the first object is a pothole road surface.

[0175] Alternatively, the first object can also be a mound of earth or a pile of stones.

[0176] Optionally, the first object can also be a movable object, such as an animal or a rolling stone. When the first object is a movable object, the first identifier also indicates the speed of movement of the first object; for example, the first identifier may include the words "5 km / h" to indicate that the speed of movement of the first object is 5 km / h.

[0177] For implementation methods where the first object is a mound of earth, a pile of stones, or a movable object, please refer to the specific implementation where the first object is a "pothole road surface" as described above, which will not be repeated here.

[0178] It is understandable that the first pattern and the first logo will change as the relative position of the vehicle and the first object changes. For specific examples, please refer to the relevant introductions in Figures 4A and 4B above, which will not be repeated here.

[0179] Please refer to Figure 8A, which depicts a scenario where a vehicle is about to enter a tunnel. In the scenario shown in Figure 8A, the vehicle can turn on its headlights to illuminate the road ahead, as shown in Figure 8B. However, some tunnels may not be high or wide enough for vehicles to pass through, or, in poor lighting conditions, drivers may not be able to detect in time that a vehicle is about to enter the tunnel. In such cases, it can easily lead to misjudgment by the driver, resulting in a traffic accident.

[0180] For the scenarios shown in Figure 8A or Figure 8B, the solution provided in this application can achieve the effect shown in Figure 8C. In Figure 8C, the first object includes a tunnel entrance, the first pattern includes a light spot similar to the edge of the tunnel entrance, and the first marking includes the text "Height: 2 meters, Width: 5 meters". As can be seen from Figure 8C, the first pattern can illuminate the tunnel entrance, allowing the driver to clearly observe it. Combined with the text "Height: 2 meters, Width: 5 meters" in the first marking, the driver can judge whether the vehicle can pass through the tunnel, reducing driver misjudgment.

[0181] Optionally, the first sign may also include the words "tunnel accessible" or "tunnel not accessible" to directly inform the driver whether they can continue.

[0182] Optionally, the first object can also be a width-limited frame or a height-limited frame. For implementations where the first object is a width-limited frame or a height-limited frame, please refer to the specific implementation described above where the first object is a "tunnel entrance," which will not be repeated here.

[0183] Based on the descriptions in Figures 7A, 7B, 8A, 8B, and 8C above, it can be seen that by combining the first pattern and first mark projected onto the first object, the driver can directly obtain the relationship between the vehicle and the first object, avoiding misjudgments caused by insufficient driver experience, thereby reducing the probability of traffic accidents.

[0184] In another possible implementation, the vehicle's environment also includes a second object, and the first identifier is also used to identify one or more of the relationships between the first object and the second object, or between the first pattern and the second object, or between the vehicle and the second object.

[0185] Please refer to Figure 9. In the scenario shown in Figure 9, the first object includes the vehicle in front of the driver, and the second object includes the vehicle to the right front of the driver. The first pattern includes two one-way arrows and one two-way arrow. The first label includes the words "Speed: 50 km / h", "Speed: 30 km / h", and "Distance: 20 meters". Combining Figure 9 with the aforementioned related information, it can be seen that the words "Speed: 50 km / h" indicate that the speed of the vehicle in front is 50 km / h, "Speed: 30 km / h" indicates the vehicle to the right front, and "Distance: 20 meters" indicates that the distance between the vehicle in front and the vehicle to the right front is 20 meters. Therefore, by using the first pattern and the first label shown in Figure 9, the driver can clearly understand the relationship between the driver and the first object, the relationship between the driver and the second object, and the relationship between the first and second objects, thus enabling them to make correct driving operations based on these relationships. For example, if the vehicle in front is traveling at a higher speed than the vehicle to its right, and there is a large gap between the two vehicles, the driver may attempt to overtake.

[0186] Please refer to Figure 10A. In the scenario shown in Figure 10A, the vehicle is traveling on a two-lane road with poor lighting conditions. When an oncoming vehicle approaches, the vehicle's adaptive high beam system (ADB) adjusts its projected pattern to avoid interfering with the other vehicle's driving, based on factors such as the other vehicle's position and size, as shown in Figure 10B. However, the implementation shown in Figure 10B can also prevent the driver from accurately identifying the outline or position of the other vehicle, potentially leading to traffic accidents. Therefore, the embodiment provided in this application uses a first identifier to identify the relationship between the vehicle and other vehicles, as well as between the other vehicle and its surrounding environment, allowing the driver to accurately identify the outline and position of other vehicles, thereby assisting the driver in safe driving. In the scenario shown in Figure 10C, the first pattern is the bright area in Figure 10C (i.e., the white area in Figure 10C); the first object is the oncoming vehicle; the second object is the area composed of diagonal stripes. It should be noted that in Figures 10A to 10C, the area composed of diagonal stripes is used to represent roadside green belts, trees, or buildings, etc.; the first marking includes the words "0.5 meters," "3 meters," and "5 meters," as well as the arrows corresponding to the above words. For example, the word "0.5 meters" is used to indicate the distance between the oncoming vehicle and the green belt, the word "3 meters" is used to indicate the distance between the driver and the oncoming vehicle, and the word "5 meters" is used to indicate the distance between the oncoming vehicle and the right boundary of the road where the driver is located. It can be seen that after obtaining the above information, the driver can clearly know the relative position of the driver and the oncoming vehicle, as well as the outline of the oncoming vehicle, thereby enabling the driver to make correct driving operations to ensure driving safety.

[0187] Based on the scenarios shown in Figures 9, 10A to 10C, it can be understood that the driver can accurately obtain the various relationships between the vehicle and its surrounding environment, as well as the relationships between the first object and the second object in the surrounding environment, through the first pattern and the first mark. This enables the driver to make more accurate driving operations based on this information, thereby reducing the probability of traffic accidents and protecting the lives and property of traffic participants.

[0188] In another possible implementation, the first pattern and the first logo are used to identify vehicle driving information, which includes at least one of navigation information, driver assistance information, and vehicle data.

[0189] Optionally, the navigation information mentioned above can be a series of planar coordinates indicating the vehicle's arrival at the navigation destination. Navigation information can also consist of various navigation instructions, such as turn signs, straight-ahead signs, U-turn signs, or destination information. The driving assistance information mentioned above can be from the vehicle's ADAS (Advanced Driver Assistance Systems). For example, driving assistance information can be driving intentions, such as going straight, changing lanes, turning, or entering an intersection. The driving assistance information mentioned above can also be emergency decisions, such as emergency braking, emergency avoidance, or vehicle malfunction. The driving assistance information mentioned above can also be vehicle driving prediction events, such as the vehicle being in a safe state or a dangerous state. Vehicle data can be key data displayed on the vehicle's instrument panel (fuel consumption, engine speed, temperature, etc.), vehicle speed information, steering wheel angle information, or vehicle attitude data.

[0190] Understandably, presenting vehicle driving information through the first pattern and the first logo allows the driving information to be presented more directly, accurately, and three-dimensionally in the driver's field of vision, enabling the driver to make necessary driving judgments more quickly, thereby assisting the driver to participate in traffic better and improving driving safety.

[0191] For example, the shape of the first pattern is a road type, which is used to indicate the road that will appear in front of the vehicle, and the first mark is used to identify distance information related to the road in front of the vehicle. The road type and distance information depend on the driving information.

[0192] Please refer to Figure 11A. In the scenario shown in Figure 11A, the vehicle is on a town street with poor lighting conditions, making it difficult for the driver to notice the intersection ahead in time. This hinders the driver's ability to make effective driving predictions, leading to misjudgments and increasing the risk of traffic accidents. Therefore, the solution provided in this application projects the type of intersection that will appear ahead using a projection device, and combines this with the content displayed on the HUD device to indicate the position of the intersection relative to the vehicle. This allows the driver to make driving predictions, such as slowing down, accelerating, turning, or making a U-turn, thereby reducing driver misjudgments and preventing traffic accidents. As shown in Figure 11B, in the scenario shown in Figure 11B, the first pattern is a crossroads, the first object is the crossroads that will appear ahead of the vehicle, and the first sign includes the words "100 meters". It is understood that the first pattern and the first sign shown in Figure 11B are used to indicate that there is a crossroads 100 meters ahead of the vehicle. Of course, the first pattern can also be an elevated road, a T-junction, a sharp turn, or a ramp, etc., and this application does not limit this.

[0193] For example, the shape of the first pattern is a driving sign, which is used to indicate the driving intention of the vehicle, and the first mark is used to identify distance information associated with the driving sign. The driving sign and the distance information depend on the driving information.

[0194] It is understandable that driving on unfamiliar roads requires a high degree of reliance on navigation information. Therefore, drivers frequently need to turn their heads to check the navigation, which can easily distract them and lead to traffic accidents. In view of this, the solution provided in this application can project navigation information, driving assistance information, or vehicle data through a projection device and a HUD device. This allows drivers to obtain navigation information, driving assistance information, or vehicle data without turning their heads, thereby assisting them in performing safer driving operations. Please refer to Figure 11C. In the scenario shown in Figure 11C, the first pattern includes a "right turn sign," the first object is the right-turn intersection in front of the vehicle, and the first sign includes the words "150 meters." It is understood that the first pattern and the first sign shown in Figure 11C are used to indicate that a right turn operation needs to be performed 150 meters in front of the vehicle, enabling the driver to make the correct driving operation based on this information, thus participating in traffic better and improving driving safety.

[0195] Alternatively, the first symbol may also be a "U-turn sign", "left turn sign" or "straight ahead sign", etc., and this application does not limit it.

[0196] In another possible implementation, the width of the first pattern is equal to the width of the vehicle, and the first identifier is used to indicate the distance between the boundary of the first pattern and the first object, or the distance between the vehicle and the first object. It is understood that the first object can be a dynamic object, such as another vehicle or pedestrian. The first object can also be a static object, such as a bollard, a pothole, or a curb. In the scenarios shown in Figures 12A and 12B below, the first object includes dynamic objects; in the scenarios shown in Figures 13A and 13B, the first object includes static objects.

[0197] Please refer to Figure 12A. In the scenario shown in Figure 12A, a vehicle is traveling on a town street, and there is a bicycle on its right front. In situations where the street is narrow or the driver lacks experience, the driver may misjudge the situation, leading to a traffic accident between the vehicle and the bicycle on its right front. Therefore, the solution provided in this application enables the driver to accurately understand the relationship between the vehicle and the bicycle on its right front, thereby allowing the driver to make the correct driving maneuvers.

[0198] For example, please refer to Figure 12B. In the scenario shown in Figure 12B, the first pattern includes the beam of light shown on the left side of Figure 12B, the first object includes a vehicle being ridden on the roadside, and the first sign includes the words "2 meters" and its corresponding double-headed arrow. It can be seen that the first pattern and the first sign shown in Figure 12B are used to indicate that the distance between the riding vehicle and the first pattern is 2 meters. Optionally, the beam of light on the left side of Figure 12B can be the vehicle's demarcation line, that is, the beam of light on the left side of Figure 12B is the extension line of the left boundary of the vehicle. Therefore, the first pattern is also used to indicate that the distance between the vehicle and the riding vehicle is 2 meters. In summary, it can be seen that the driver can accurately know that the distance between the riding vehicle and the vehicle is 2 meters based on the first pattern and the first sign, and can pass safely. Of course, the beam of light on the left side of Figure 12B can also be used to remind cyclists that there is a vehicle approaching from behind, and the approximate distance between the vehicle and themselves, which also helps assist other road users in participating in traffic better and improving driving safety.

[0199] Optionally, the first pattern may also include the beam of light shown on the right side of Figure 12B, the first object may also include the curb, and the first sign may include the words "1 meter" and its corresponding double-headed arrow. It can be seen that the first pattern and the first sign shown in Figure 12B are also used to indicate that the distance between the curb and the first pattern is 1 meter. Of course, the beam of light on the right side of Figure 12B can be the vehicle's marking line, that is, the line on the right side of Figure 12B is the extension of the right boundary of the vehicle. Therefore, the first pattern is also used to indicate that the distance between the vehicle and the curb is 1 meter. In summary, it can be seen that the driver can accurately know, based on the first pattern and the first sign, that the distance between the vehicle and the curb is 1 meter, and can pass safely.

[0200] Optionally, the first object can also be a pedestrian or another vehicle; this application does not limit this.

[0201] In the scenario shown in Figure 12B above, the distance between the vehicle and objects in its environment (e.g., a cyclist or a curb) is relatively wide, allowing the driver to pass safely. However, in some scenarios, the distance between the vehicle and objects in its environment may be narrow, preventing normal passage. In such cases, the driver may need to take appropriate driving actions (e.g., braking or steering) to avoid traffic accidents.

[0202] Please refer to Figure 13A. In the scenario shown in Figure 13A, there are two obstacles in front of the vehicle on the road, making it difficult for the driver to accurately determine whether the vehicle can pass normally. The driver may need to get out of the vehicle to observe, affecting traffic efficiency. Therefore, the solution provided in this application allows the driver to accurately know the relationship between the vehicle and the obstacles in front, thus enabling the driver to make the correct driving maneuvers.

[0203] For example, please refer to Figure 13B. In the scenario shown in Figure 13B, the first pattern includes two beams, the first object includes obstacles located on both sides of the road, and the first marking includes the words "30cm" and "20cm". It is understood that the "30cm" marking indicates the distance between the obstacle on the left and the beam on the left, and the "20cm" marking indicates the distance between the obstacle on the right and the beam on the right. Optionally, the two beams included in the first pattern can also be the vehicle's marker lines, in which case the "30cm" and "20cm" markings also indicate the distances between the two obstacles and the sides of the vehicle, respectively. Therefore, the first pattern and the first marking allow the driver to clearly see whether the vehicle can pass the obstacle in front, and also assist the driver in passing the obstacle.

[0204] In another possible implementation, the length of the first pattern is equal to the distance between the vehicle and the first object, and the first identifier is used to identify the distance between the first pattern and the first object, or the distance between the vehicle and the first object.

[0205] Please refer to Figure 14A. In the scenario shown in Figure 14A, there is another vehicle traveling in front of the vehicle in its lane. If the distance between the vehicle and the vehicle in front is too close, a traffic accident is likely to occur. Therefore, the solution provided in this application, as shown in Figure 14B, allows the driver to accurately know the relationship between their vehicle and the first object, thus enabling the driver to make accurate driving judgments. In the scenario shown in Figure 14B, the first pattern includes the light carpet shown in Figure 14B, the first object is the vehicle in front, and the first sign includes the words "20 meters". Combining the first pattern and the first sign shown in Figure 14B, the driver can clearly understand the distance between their vehicle and the vehicle in front, thereby avoiding traffic accidents.

[0206] Optionally, when the distance between the vehicle and the vehicle in front is too close, the first sign may also include the words "Warning!!! The distance between the two vehicles is less than the braking distance" to clearly inform the driver that a traffic accident is likely to occur in this situation, so that the driver can take relevant driving actions to avoid a traffic accident.

[0207] In another possible implementation, the first pattern corresponds to the shape of the road segment where the vehicle is waiting to travel, and the first identifier is used to identify the name of the road segment and / or the destination corresponding to the road segment. Here, the road segment can be understood as the road segment ahead of the vehicle.

[0208] Please refer to Figure 15A. In the scenario shown in Figure 15A, the vehicle is traveling at a bend in the road. To make it clearer for the driver the road ahead and its name, a pattern identical to the road shape can be projected onto the road using a projection device, and the road name, such as "XXX Avenue," can be displayed using a HUD device, as shown in Figure 15B. It can be understood that in Figure 15B, the first pattern includes a pattern identical to the road shape, the first object is the road ahead of the vehicle, and the first sign is the words "XXX Avenue."

[0209] Please refer to Figure 16A. In the scenario shown in Figure 16A, a vehicle is traveling at a ramp entrance, and the two roads of the ramp lead to different destinations. To help the driver clearly understand which entrance to take, a projection device can project a pattern identical to the road shape onto the road, and a HUD device can be used to display the corresponding destination, such as "To XXX," as shown in Figure 16B. It can be understood that in Figure 16B, the first pattern includes a pattern identical to the road shape, the first object is the destination corresponding to the road, and the first label is the words "To XXX."

[0210] It is understood that the scenarios provided above and the display effects of the first pattern and the first logo are exemplary and should not be taken as limitations of this application.

[0211] Optionally, the various implementations shown above can be combined with each other, and this application is not limited thereto. For example, in Figure 4C, the first identifier includes a locking frame, and in the scenario shown in Figure 12B, the first identifier may also include a locking frame for locking the riding vehicle. It is understood that the implementation methods provided in this application are diverse and cannot be exhaustively listed. Therefore, any implementation that meets the above conditions, or any simple variations thereof, falls within the protection scope of this application.

[0212] Please refer to Figure 17, which is a flowchart illustrating another projection control method provided in this application embodiment. The projection control method shown in Figure 17 is the "Scenario Two" described above. The projection control method shown in Figure 17 may include one or more steps S1701 to S1706. For example, some solutions may only include steps S1701 and S1706. It should be understood that, for ease of description, the description is based on the order of steps S1701 to S1706, and is not intended to limit the execution to this order. This application embodiment does not limit the order of execution, execution time, or number of executions of the above one or more steps. Steps S1701 to S1706 are as follows:

[0213] S1701, The acquisition unit acquires the first environmental information of the vehicle.

[0214] S1702, The acquisition unit sends the first environmental information to the control unit.

[0215] S1703, The control unit controls the projection device to project a first pattern based on the first environmental information. A detailed description of the first pattern can be found in the implementation described above, and will not be repeated here. For example, the pedestrian sign and arrow shown in Figure 4B, and the light spot similar to the edge of a pothole shown in Figure 7B.

[0216] For the specific implementations of S1701, S1702 and S1703, please refer to the relevant introductions of S301, S302 and S303A mentioned above, which will not be repeated here.

[0217] S1704. The acquisition unit acquires the first pattern. Exemplarily, the acquisition unit can acquire the first pattern by taking a picture and then performing image analysis. This application does not limit the specific implementation of acquiring the first pattern.

[0218] Optionally, the obtained first pattern includes one or more of the following: the size of the first pattern, the shape of the first pattern, or the position of the first pattern.

[0219] Optionally, the acquisition unit acquires the second environmental information simultaneously with the first pattern. It is understood that the vehicle's environment is constantly changing, and there is a gap between the acquisition unit acquiring the first environmental information and acquiring the first pattern. Therefore, when the vehicle acquires the first pattern, its environment may have already changed.

[0220] S1705. The acquisition unit sends the first pattern to the control unit. The specific method by which the acquisition unit sends the first pattern to the control unit can be either wired or wireless communication; this application does not limit this. For example, the acquisition unit can send the first pattern to the control unit via CAN.

[0221] S1706. The control unit controls the HUD device to display a first identifier based on the first pattern. A detailed description of the first identifier can be found in the implementation method described above, and will not be repeated here. For example, the words "50 meters" in Figure 4B, and the locking frame shown in Figure 4C.

[0222] Optionally, the control unit controls the HUD device to display the first identifier based on the first pattern and the aforementioned first environmental information. That is, the control unit comprehensively considers the first pattern and the first environmental information to control the HUD device to display the first identifier, so that the first identifier can better match the first pattern, thereby conveying more accurate information to the driver, helping the driver to participate in traffic better and improving driving safety.

[0223] Optionally, the control unit controls the HUD device to display the first logo based on the first pattern and the aforementioned second environmental information. It is understood that the second environmental information is acquired simultaneously with the first pattern. Therefore, controlling the HUD device to display the first logo based on the second environmental information and the first pattern allows the first logo to better match the first pattern, conveying more accurate information to the driver, thereby helping the driver participate better in traffic and improving driving safety.

[0224] Based on the description in Figure 17 above, it can be seen that the solution shown in Figure 17 requires acquiring the first pattern projected by the projection device, and then controlling the HUD device to display the first sign based on the first pattern. This allows the first sign to better match the first pattern, thereby enabling the first pattern and the first sign to better assist the driver in traffic and improve driving safety. Regarding the possible implementation methods of the first pattern, the first sign, and the first object, please refer to one or more of the following figures: Figures 4A to 4C, 5, 6, 7A, 7B, 8A to 8C, 9, 10A to 10C, 11A to 11C, 12A, 12B, 13A, 13B, 14A, 14B, 15A, 15B, 16A, or 16B. Of course, in some possible scenarios, the first sign may also be used to identify a second object, as shown in Figure 9 above. In this scenario, the solution shown in Figure 17 is also applicable.

[0225] Please refer to Figure 18, which is a schematic flowchart of a projection control method provided in an embodiment of this application. The projection control method shown in Figure 18 is the "Scenario 1" described above. The projection control method shown in Figure 18 may include one or more steps S1801 to S1804. For example, some solutions may only include steps S1801 and S1804. It should be understood that, for ease of description, the description is based on the order of steps S1801 to S1804, and is not intended to limit the execution to this order. This application embodiment does not limit the order of execution, execution time, or number of executions of the above one or more steps. Steps S1801 to S1804 are as follows:

[0226] S1801, the acquisition unit acquires the vehicle's third environmental information. The description of the third environmental information can be found in the previous step S301 regarding the first environmental information; it will not be repeated here.

[0227] S1802, The acquisition unit sends third environmental information to the control unit.

[0228] S1803, The control unit controls the HUD device to display a second identifier based on the first environmental information. Optionally, the second identifier is used to identify the first object.

[0229] For the specific implementations of S1801, S1802 and S1803, please refer to the relevant introductions of S301, S302 and S303B mentioned above, which will not be repeated here.

[0230] S1804. The control unit controls the projection device to project a second pattern based on the second identifier. Optionally, the second pattern is used to indicate the first object, or to flash at a target frequency to prompt the first object. The target frequency can be 10 times / minute or 20 times / minute, and this application does not limit it.

[0231] It is understandable that the information required by drivers to assist driving will vary depending on the scenario or driving experience. In some scenarios, drivers may only need the second sign displayed by the HUD device or the second pattern projected by the projection device to participate in traffic effectively. In other scenarios, drivers need to combine the second sign and the second pattern to participate in traffic effectively. Therefore, the projection control method shown in Figure 18 can fully take into account the driver's driving needs and driving experience, so as to assist the driver to participate in traffic better and improve driving safety.

[0232] Next, the projection control method shown in Figure 18 will be described exemplarily with reference to the accompanying drawings.

[0233] Please refer to Figure 19A. In the scenario shown in Figure 19A, there are other vehicles traveling to the right front of the vehicle, and the ambient lighting is poor, making it easy for the driver to overlook obstacles or other road users, potentially leading to traffic accidents. However, the vehicle's acquisition unit can use various sensors such as cameras, millimeter-wave radar, or lidar to promptly detect various obstacles or other road users in the vehicle's environment and alert the driver via the HUD device. As shown in Figure 19B, the HUD device displays a second indicator to remind the driver that there are other objects at the location indicated by the second indicator, prompting the driver to drive cautiously.

[0234] Obviously, in the case shown in Figure 19B, the driver still cannot observe the other objects indicated by the second sign. In order to allow the driver to better observe the other objects, the projection device can be controlled to project the second pattern onto the position indicated by the second sign, so that the driver can observe the other objects, as shown in Figure 19C.

[0235] For example, the driver's instructions can be received in such a way as to control the projection device to project the second pattern onto the location indicated by the second sign.

[0236] Method 1: The camera in the cockpit identifies whether the driver stares at the second sign for a longer than a preset value. When the driver stares at the second sign for a longer than the preset value, the projection device is controlled to project the second pattern. The preset value can be 1s, 2s, or 3s, etc., and this application does not limit it.

[0237] Method 2: The camera in the cockpit identifies whether the driver is in a preset pose. When the preset pose is detected, the projection device is controlled to project a second image. The preset pose can be an OK sign, a 'V' sign, or a heart sign, etc. This application does not limit this.

[0238] Method 3: Obtain the driver's confirmation to project the second image through the human-machine interface, and then control the projection device to project the second image. For example, the driver can control the projection device to project the second image by clicking a control on the vehicle screen or a physical button in the cabin.

[0239] Optionally, the second sign may also include the phrase "Moving object, dimensions: 5 meters × 2 meters × 1.8 meters," as shown in Figure 19D. It is understood that the phrase "Moving object, dimensions: 5 meters × 2 meters × 1.8 meters" indicates that the other object indicated by the second sign is a moving object with dimensions of 5 meters × 2 meters × 1.8 meters. Clearly, by identifying the type, size, and other attributes of other objects, drivers can better understand the characteristics of these objects, thus assisting them in better participating in traffic and improving driving safety.

[0240] Optionally, in the projection control method shown in FIG18, the second pattern and the second identifier can be the first pattern and the first identifier described in one or more of FIG4A to 4C, FIG5, FIG6, FIG7A, FIG7B, FIG8A to FIG8C, FIG9, FIG10A to FIG10C, FIG11A to FIG11C, FIG12A, FIG12B, FIG13A, FIG13B, FIG14A, FIG14B, FIG15A, FIG15B, FIG16A or FIG16B.

[0241] The projection control method shown in Figure 18 above introduces a projection control method that requires driver intervention, allowing the driver to decide whether to project a second pattern based on a second sign, thus better meeting the driving needs of various drivers. Similarly, the projection control method shown in Figure 17 also allows the driver to decide whether to display a second sign based on a second pattern, thereby better meeting the driver's driving needs. For example, referring to Figure 7A, when the vehicle's acquisition unit detects a pothole in front of the vehicle and controls the projection device to project the pattern shown in Figure 7B onto the pothole, the driver can choose whether to have the HUD device display the first sign shown in Figure 7B, depending on their needs. For instance, if the driver cannot accurately determine the pothole under the projection device's illumination, the driver can control the HUD device to display the first sign to assist the driver in better observing the road conditions. Conversely, if the driver can accurately determine the pothole under the projection device's illumination, the driver can control the HUD device not to display the first sign.

[0242] For example, the driver's instructions can be received in the following manner to control the projection device to display the first sign.

[0243] Method 1: The camera in the cockpit identifies whether the driver stares at the first pattern for a longer than a preset value. When the driver stares at the first pattern for a longer than the preset value, the HUD device is controlled to display the first indicator. The preset value can be 1 second, 2 seconds, or 3 seconds, etc., and this application does not limit it.

[0244] Method 2: The camera in the cockpit identifies whether the driver is in a preset posture. When the preset posture is detected, the HUD device is controlled to display the first icon. The preset posture can be an OK gesture, a 'V' gesture, or a heart gesture, etc. This application does not limit this.

[0245] Method 3: Obtain the driver's confirmation to display the first identifier through the human-machine interface, and then control the HUD device to display the first identifier. For example, the driver can control the HUD device to display the first identifier by clicking a control on the vehicle's infotainment screen or a physical button in the cabin.

[0246] It is understood that the HUD device can also be controlled to display the first logo in other ways, or the projection device can be controlled to project the second pattern. This application does not limit this. For example, the HUD device can be controlled to display the first logo by voice, or the projection device can be controlled to project the second pattern.

[0247] It is understandable that the projection control method described above can be repeatedly executed as the vehicle moves or other traffic participants move. The difference lies in the information acquired by the acquisition unit, the pattern projected by the projection device, and the sign displayed by the HUD device. For example, based on the projection control method shown in Figure 3, the acquisition unit can also acquire fourth environmental information, and the control unit controls the projection device to project a third pattern and the HUD device to display a third sign based on the fourth environmental information. As another example, based on the projection control method shown in Figure 17, the acquisition unit can also acquire fifth environmental information, and the control unit controls the projection device to project a fourth pattern based on the fifth environmental information. The acquisition unit will then acquire the fourth pattern again, and the control unit will then control the HUD device to display a fourth sign based on the fourth pattern. As yet another example, based on the projection control method shown in Figure 18, the acquisition unit can also acquire sixth environmental information, and the control unit controls the HUD device to display a fifth sign based on the sixth environmental information. The control unit then controls the projection device to project a fifth pattern based on the fifth sign. For a detailed description of the above repeated execution schemes, please refer to the corresponding descriptions above; they will not be repeated here.

[0248] Optionally, when the projection control method shown in Figures 3, 17, or 18 is repeatedly executed, the new pattern projected by the projection device can be used to indicate the first object or a new object. For example, the third pattern can be used to indicate a third object, which may be the same as or different from the first object. Correspondingly, when the projection control method shown in Figures 3, 17, or 18 is repeatedly executed, the identifier displayed by the HUD device may be the same as or different from the first / second identifier.

[0249] Optionally, the projection control methods shown in Figures 3, 17, or 18 can be combined to provide richer functions, thereby better assisting drivers in participating in traffic or better interacting with other traffic participants.

[0250] In one possible implementation, in addition to the projection device projecting the first pattern and the HUD device displaying the first identifier, the seventh environmental information of the vehicle is also acquired. Based on the seventh environmental information, the HUD device is controlled to display a sixth identifier, which is used to identify the relationship between the vehicle and a fourth object in the vehicle's environment. Based on the sixth identifier, the projection device is controlled to project a sixth pattern in the vehicle's environment, which is used to indicate the fourth object. Alternatively, the projection device is controlled to flash at a first frequency based on the sixth identifier to prompt the sixth object.

[0251] For example, taking the scenarios described in Figures 12A and 12B above, the distance between the vehicle and objects in its environment (e.g., a cyclist or a curb) is relatively wide, allowing the driver to pass safely. However, in some scenarios, the distance between the vehicle and objects in its environment may be narrow, posing a risk of traffic accidents. As shown in Figure 11C, the distance between the vehicle and a cyclist, or between the vehicle and a curb, is 0.1 meters. If the vehicle continues to pass, there is a risk of a traffic accident. In this situation, honking the horn directly would generate significant noise, disturbing residents' rest, and could also startle cyclists.

[0252] In view of this, the solution provided in this application can first execute the projection control method shown in Figure 3 based on the scenario shown in Figure 12A to obtain the scenario shown in Figure 12B. As the bicycle and the cyclist move, the acquisition unit acquires the seventh environmental information and controls the HUD device to display the sixth sign shown in Figure 20A based on the seventh environmental information. The sixth sign includes two "0.1 meters" markings and the words "too close." As can be seen from the scenario shown in Figure 20A, the distance between the cyclist and the left-hand beam is 0.1 meters, and the distance between the bicycle and the right-hand curb is also 0.1 meters. In this situation, a traffic accident is likely to occur. Accordingly, the projection control method shown in Figure 18 can be executed to control the projection device to display a new pattern. For example, the camera in the cockpit can identify whether the driver has been staring at the first sign shown in Figure 20A (the words "too close") for a longer than a preset value, and then control the projection device to project a new pattern (the sixth pattern shown in Figure 20B) to remind the cyclist that they are too close to the bicycle, which could easily lead to a traffic accident, and request them to avoid the bicycle. Optionally, the sixth pattern shown in Figure 20B can be a beam of light flashing at a first frequency. The first frequency can be 10 times / minute or 20 times / minute, and this application does not limit it.

[0253] In another possible implementation, based on the projection device projecting a first pattern and the HUD device displaying a first identifier, the projection device is directly controlled to project a sixth pattern in the vehicle's environment based on the first identifier. The sixth pattern is used to indicate the first object. Alternatively, the projection device is controlled to flash at a second frequency based on the first identifier to prompt the first object.

[0254] For example, taking the scenario shown in Figure 12A as an example, the first pattern projected by the projection device is directly projected as the first pattern shown in Figure 20A, and the sign displayed by the HUD device is directly displayed as the sixth sign shown in Figure 20A. Therefore, the projection device can be directly controlled to project a new pattern in the vehicle's environment based on the first sign. For example, by using a camera in the cockpit to identify whether the driver has been staring at the first sign shown in Figure 20A (the words "too close") for a longer than a preset value, the projection device can be controlled to project a new pattern (the sixth pattern shown in Figure 20B) to remind the cyclist that they are too close to the vehicle, which could easily lead to a traffic accident, and to request them to give way. Optionally, the sixth pattern shown in Figure 20B can be a beam of light flashing at a second frequency. The second frequency can be 10 times / minute or 20 times / minute; this application does not limit this.

[0255] Optionally, the aforementioned first object, second object, third object, fourth object, fifth object, or sixth object includes one or more of the following: pedestrian, other vehicle, traffic sign, curb, intersection, waiting section of road, or obstacle.

[0256] Optionally, the aforementioned first, second, third, fourth, fifth, and sixth signs, patterns, or symbols can be different colors for better indication. For example, the text "Warning!!!, the distance between the two vehicles is less than the braking distance" in Figure 14B can be yellow to better remind the driver.

[0257] Optionally, the scenarios described above can be evening, night, cloudy days, or other scenarios with poor lighting.

[0258] As can be seen from the above-described solutions, by combining the projection control methods shown in Figures 3 and 18, richer functions can be achieved to better meet the needs of drivers, thereby better assisting drivers or other traffic participants in traffic and improving driving safety.

[0259] In summary, the solution provided in this application, by displaying a first sign (second sign) on a HUD device and projecting a first pattern (second pattern) on a projection device, allows the information presented by the superposition of the first sign (second sign) and the first pattern (second pattern) to better assist drivers in participating in traffic and to better enable the vehicle to interact with other road users. Furthermore, the projection control method shown in Figure 18 allows the driver to control whether the projection device projects the second pattern according to their needs, better meeting the driver's requirements and greatly enhancing the driving experience. Moreover, the various projection control methods provided in this application can be combined to provide richer projection functions, thereby better assisting drivers and other road users in participating in traffic and improving driving safety.

[0260] This application also provides a projection system, which includes an acquisition unit, a control unit, a projection device, and a HUD device. The acquisition unit can be the acquisition unit 210 shown in FIG. 2, or the acquisition unit shown in FIG. 3, 17, or 18. The control unit can be the control unit 220 shown in FIG. 2, or the control unit shown in FIG. 3, 17, or 18. Correspondingly, the projection device and the HUD device can be either the projection device or the HUD device shown in FIG. 3, 17, or 18. The projection system is used to execute the projection control method obtained from FIG. 3, 17, or 18 and combinations thereof.

[0261] This application also provides a projection control device, which includes a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program, causing the device to execute the projection control method obtained by FIG3, FIG17 or FIG18 and combinations thereof.

[0262] This application also provides a terminal device, which includes the above-described projection system or projection control device.

[0263] Optionally, the terminal can be a vehicle, drone, robot, or other intelligent terminal or transportation tool; alternatively, the terminal can also be industrial equipment. It should be understood that the terminal involved in this application can include intelligent terminals or transportation tools such as vehicles, robots, drones, ships, and vessels. Here, "vehicle" is a vehicle in a broad sense, and can be transportation tools (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), etc. For example, a robot can be an automated guided vehicle (AGV), a walking conversational robot, a service robot, etc. Industrial equipment includes industrial robots, robotic arms, etc. Leisure and entertainment equipment includes virtual reality (VR) devices, mixed reality (MR) devices, or 4D cinema cabins, etc.

[0264] This application provides a computer program product, which includes: a computer program (also called code or instructions); when the computer program is run, it causes the computer to execute the projection control method obtained by the above-described Figures 3, 17, or 18 and combinations thereof.

[0265] This application provides a chip including a processor, which is used to execute instructions. When the processor executes the instructions, it causes the chip to execute the projection control method obtained by the above-described FIG3, FIG17 or FIG18 and combinations thereof.

[0266] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor, implement the projection control method obtained by the above-described Figures 3, 17, or 18 and combinations thereof.

[0267] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

Claims

1. A projection control method characterized by comprising: The method comprises: obtaining first environment information of a vehicle, the vehicle comprising a projection device and a head-up display (HUD) device; controlling the projection device to project a first pattern in an environment where the vehicle is located based on the first environment information, the first pattern being used to indicate that a first object exists in the environment where the vehicle is located; controlling the HUD device to display a first identifier based on the first environment information, the first identifier being used to identify a relationship between the first pattern and the first object, or a relationship between the vehicle and the first object.

2. The method of claim 1, wherein, After the controlling the projection device to project the first pattern in the environment where the vehicle is located based on the first environment information, the method further comprises: obtaining the first pattern; the controlling the HUD device to display the first identifier based on the first environment information comprises: controlling the HUD device to display the first identifier based on the first pattern and the first environment information.

3. The method according to claim 1 or 2, characterized in that, The first identifier comprises a locking frame, and the locking frame is used to lock the first object.

4. The method according to any one of claims 1 to 3, characterized in that, The relationship comprises one or more of a distance, a relative direction, or a relative speed.

5. The method according to any one of claims 1 to 4, characterized in that, The first pattern is projected on the first object, and the first identifier is further used to identify one or more of a shape, a size, a speed, or a category of the first object.

6. The method according to any one of claims 1 to 5, characterized in that, The environment where the vehicle is located further comprises a second object, and the first identifier is further used to identify a relationship between the first object and the second object, or a relationship between the first pattern and the second object, the second object comprising one or more of a pedestrian, another vehicle, a traffic sign, a curb, or an obstacle.

7. The method according to any one of claims 1 to 6, characterized in that, The first object comprises one or more of a pedestrian, another vehicle, a traffic sign, a curb, or an obstacle.

8. The method according to any one of claims 1 to 3, characterized in that, The first pattern and the first identifier are used to identify driving information of the vehicle, the driving information comprising at least one of navigation information, driving assistance information, and vehicle-machine data.

9. The method of any one of claim 8, characterized in that, The first pattern has a shape of a driving sign, the driving sign being used to indicate a driving intention of the vehicle, and the first identifier is used to identify distance information related to the driving sign; the driving sign and the distance information depend on the driving information.

10. The method according to any one of claims 1 to 3, characterized in that, A width of the first pattern is equal to a width of the vehicle, and the first identifier is used to identify a distance between a boundary of the first pattern and the first object, or a distance between the vehicle and the first object.

11. The method according to any one of claims 1 to 3, characterized in that, A length of the first pattern is equal to a distance between the vehicle and the first object, and the first identifier is used to identify a distance between the first pattern and the first object, or a distance between the vehicle and the first object.

12. The method according to any one of claims 1 to 11, characterized in that, The method further comprises: obtaining second environment information of the vehicle; controlling the HUD device to display a second identifier based on the second environment information, the second identifier being used to identify a relationship between the vehicle and a third object in the environment where the vehicle is located; controlling the projection device to project a second pattern in the environment where the vehicle is located based on the second identifier, the second pattern being used to indicate the third object; or controlling the projection device to flash at a first frequency to prompt the third object based on the second identifier.

13. The method according to any one of claims 1 to 12, characterized in that, The method further comprises: control the projection device to project a third pattern in the environment where the vehicle is located based on the first identifier, the third pattern being used to indicate the first object; or control the projection device to flash at a second frequency based on the first identifier.

14. The method of claims 1-13, wherein, The method further comprises: control the projection device to project a fourth pattern in the environment where the vehicle is located based on the first environment information, the fourth pattern being consistent with a form of a to-be-traveled road section of the vehicle; control the HUD device to display a third identifier based on the first environment information, the third identifier being used to identify a name of the to-be-traveled road section and / or a destination corresponding to the to-be-traveled road section.

15. The method according to any one of claims 1 to 14, characterized in that, The vehicle further comprises a vehicle lamp, and the projection device is disposed in the vehicle lamp.

16. The method according to any one of claims 1 to 15, characterized in that, The environment where the vehicle is located comprises one or more of a ground, an obstacle, a green belt, a curbstone, a tunnel entrance, a height-limit frame or a vehicle in front of the vehicle.

17. A projection system, characterized by comprise an acquisition unit, a control unit, a projection device and a HUD device; The acquisition unit is configured to acquire first environment information of a vehicle. The control unit is further configured to control the projection device to project a first pattern in the environment where the vehicle is located based on the first environment information, the first pattern being used to indicate that there is a first object in the environment where the vehicle is located. The control unit is further configured to control the HUD device to display a first identifier based on the first environment information, the first identifier being used to identify a relationship between the first pattern and the first object or a relationship between the vehicle and the first object.

18. The system of claim 17, wherein, After the projection device projects the first pattern in the environment where the vehicle is located, the acquisition unit is further configured to acquire the first pattern, and the control unit is further configured to control the HUD device to display the first identifier based on the first pattern and the first environment information.

19. The method of claim 17 or 18, wherein The acquisition unit is further configured to acquire second environment information of the vehicle. The control unit is further configured to control the HUD device to display a second identifier based on the second environment information, the second identifier being used to identify a relationship between the vehicle and a third object in the environment where the vehicle is located. The control unit is further configured to control the projection device to project a second pattern in the environment where the vehicle is located based on the second identifier, the second pattern being used to indicate the third object; or the control unit is further configured to control the projection device to flash at a first frequency based on the second identifier for prompting the third object.

20. The method according to any one of claims 17-19, characterized by, The method further comprises: The control unit is further configured to control the projection device to project a third pattern in the environment where the vehicle is located based on the first identifier, the third pattern being used to indicate the first object; or The control unit is further configured to control the projection device to flash at a second frequency based on the first identifier for prompting the first object.

21. The system of any one of claims 17-20, wherein The control unit is further configured to control the projection device to project a fourth pattern in the environment where the vehicle is located based on the first environment information, the fourth pattern being consistent with a shape of a road segment to be driven by the vehicle. The control unit is further configured to control the HUD device to display a third identifier based on the first environment information, the third identifier being used to identify a name of the road segment to be driven, and / or a destination corresponding to the road segment to be driven.

22. A vehicle characterized by The vehicle comprises a projection system according to any one of claims 16-21.

23. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store a computer program, the computer program being executed to perform the method according to any one of claims 1-16.

24. A computer program product, characterised in that, comprising: instructions or a computer program; the instructions or the computer program being executed to cause the method according to any one of claims 1-16 to be implemented.

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