Control method and apparatus, and intelligent driving device

Abstract

A control method and apparatus, and an intelligent driving device. The method comprises: acquiring vehicle state information and obstacle information, the vehicle state information indicating a movement state of a vehicle during intelligent parking, and the obstacle information indicating at least one of the following: whether a moving obstacle is present within a first range of the vehicle, or the position of at least one moving obstacle within the first range relative to the vehicle; on the basis of the obstacle information, controlling at least one projection apparatus to project projection information out of the vehicle; and on the basis of the vehicle state information, controlling content of the projection information. The technical solution can be applied to the field of intelligent vehicles, such as new energy vehicles and electric vehicles. During automatic parking of a vehicle, projection information can be projected out of the vehicle on the basis of a movement state of the vehicle and obstacle information around the vehicle, so that traffic participants around the vehicle learn about the intent of the vehicle, thereby improving the efficiency of parking and the safety of driving.

Description

Control method, device and intelligent driving equipment

[0001] The present application claims priority to the Chinese patent application No. 202411135136.3, filed on August 16, 2024, and entitled "Control method, device and intelligent driving equipment", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of intelligent driving, and more particularly, to a control method, device and intelligent driving equipment. BACKGROUND

[0003] Auto parking (AP) refers to automatic parking of a vehicle, that is, an intelligent driving system can semi-automatically or fully automatically help a user to park the vehicle. Auto parking can include auto parking assist (APA), remote parking assist (RPA), valet parking driver (VPD) and auto valet parking (AVP), etc. In the current auto parking process, when there are other traffic participants outside the vehicle that hinder the parking process, the vehicle cannot effectively transmit the intention of the vehicle to the other traffic participants, resulting in low parking efficiency, and even may cause traffic accidents.

[0004] In view of this, a control scheme capable of effectively transmitting the intention of the vehicle to the outside of the vehicle is urgently needed to be developed. SUMMARY

[0005] The present application provides a control method, device and intelligent driving equipment. When a vehicle is in an auto parking process, projection information can be projected to the outside of the vehicle according to the motion state of the vehicle and the obstacle information around the vehicle, so that the traffic participants around the vehicle can know the intention of the vehicle, thereby improving the parking efficiency and driving safety.

[0006] In a first aspect, a control method is provided. The method can be executed by a vehicle, for example, can be executed by a computing platform of the vehicle, or can also be executed by a chip or circuit for the vehicle.

[0007] The method comprises: acquiring vehicle state information and obstacle information, the vehicle state information indicating a motion state of the vehicle in an intelligent parking process, and the obstacle information indicating at least one of the following: whether there is a dynamic obstacle in a first range of the vehicle, or a position of at least one dynamic obstacle in the first range relative to the vehicle; controlling at least one projection device to project projection information outside the vehicle according to the obstacle information; and controlling content of the projection information according to the vehicle state information.

[0008] In the technical solution, when the vehicle is in an automatic parking process, the at least one projection device projects projection information outside the vehicle, so that the intention of the vehicle can be projected outside the vehicle, so that other traffic participants far from the vehicle can easily know the intention of the vehicle, so that the other traffic participants can take timely measures to avoid the vehicle, thereby improving parking efficiency and driving safety.

[0009] In combination with the first aspect, in some implementations of the first aspect, the at least one projection device comprises a first device that projects an image in a first direction of the vehicle, and the controlling of the at least one projection device to project the projection information outside the vehicle according to the obstacle information comprises: when the obstacle information indicates that a first obstacle of the at least one dynamic obstacle is located at a first position in the first direction, controlling the first device to project first projection information to a second position, the second position corresponding to the first position; or when the obstacle information indicates that the first obstacle is located at a third position in the first direction, controlling the first device to project the first projection information to a fourth position, the fourth position corresponding to the third position; wherein the first position and the third position are different in distance from the vehicle.

[0010] In the technical solution, the position of the projection information can be adjusted according to the position of the dynamic obstacle relative to the vehicle, so that the dynamic obstacle can obtain the projection information in time and know the intention of the vehicle.

[0011] In combination with the first aspect, in some implementations of the first aspect, the at least one projection device comprises a second device that projects an image in a second direction of the vehicle, and the controlling of the at least one projection device to project the projection information according to the obstacle information comprises: when the obstacle information indicates that a second obstacle of the at least one dynamic obstacle is located in the second direction, controlling the second device to project second projection information.

[0012] In some implementations, the second device is controlled to project the second projection information while the first device is controlled to project the first projection information. The information indicated by the first projection information and the second projection information can be the same, for example, both indicating the moving obstacle to give way to the vehicle; or can be different, for example, the first projection information indicates the driving direction of the vehicle, and the second projection information indicates the moving obstacle to give way to the vehicle. In addition, the content of the first projection information and the second projection information can be the same, for example, both including patterns and texts; or can be different, for example, the first projection information includes patterns and texts, and the second projection information only includes texts.

[0013] In the technical solution described above, the projection devices in different directions in the vehicle can be controlled to project the same or different projection information according to the detection of the moving obstacle around the vehicle, so as to achieve different prompting purposes. For example, when a moving obstacle is detected on the side of the vehicle, the moving obstacle on the side can be prompted to give way to the vehicle; when a moving obstacle is detected in the driving direction of the vehicle, the moving obstacle in the driving direction can be prompted to give way to the vehicle, and / or the vehicle can be prompted to give way to the moving obstacle in the driving direction.

[0014] In combination with the first aspect, in some implementations of the first aspect, the content of the projection information is controlled according to the vehicle state information, including: when the vehicle state information indicates that the motion state is the driving state, the projection information is controlled to indicate the driving direction of the vehicle; or when the vehicle state information indicates that the motion state is switched from the driving state to the stopping state, the projection information is controlled to indicate the reason for the vehicle stopping; wherein the reason for the vehicle stopping includes any one of the following: parking completion, parking for giving way, waiting for passage, and waiting for passengers to get on the vehicle.

[0015] In combination with the first aspect, in some implementations of the first aspect, the vehicle state information further indicates that the current parking type of the vehicle is a first type or a second type, the first type is to control the vehicle to park into a target parking space, and the second type is to control the vehicle to park out of a parked position and drive to a target position; the content of the projection information is controlled according to the vehicle state information, including: when the vehicle state information indicates the first type and the motion state is switched from the driving state to the stopping state, the projection information is controlled to indicate that the reason for the vehicle stopping is any one of the following: waiting for passengers to get on the vehicle, waiting for passage, or parking for giving way; or when the vehicle state information indicates the second type and the motion state is switched from the driving state to the stopping state, the projection information is controlled to indicate that the reason for the vehicle stopping is any one of the following: parking completion, waiting for passage, or parking for giving way.

[0016] In the technical solution described above, the content of the projection information is controlled according to the parking type of the vehicle and the motion state of the vehicle, which helps to make differential prompts for different scenarios and helps to improve the intelligent level of the vehicle.

[0017] With reference to the first aspect, in some implementations of the first aspect, the vehicle state information further indicates a driving direction of the vehicle, the at least one projection device includes a third device configured to project an image in the driving direction, and the control of the at least one projection device to project the projection information outside the vehicle according to the obstacle information includes: when the obstacle information indicates that there is no dynamic obstacle in a second range of the driving direction of the vehicle, controlling the third device to project the projection information indicating the driving direction of the vehicle.

[0018] In the above technical solution, the driving information of the vehicle is projected outside the vehicle during the automatic parking process, which can remind or warn other traffic participants, so that the traffic participants or the driver can more clearly understand the driving intention of the current vehicle, thereby realizing the interaction between the vehicle and the external environment, reducing the safety hazards during the parking process, and improving the intelligent degree of the vehicle.

[0019] With reference to the first aspect, in some implementations of the first aspect, the vehicle state information further indicates a running state of the intelligent parking function, and the control of the content of the projection information according to the vehicle state information includes: when the vehicle state information indicates that the running state changes from a first state to a second state, controlling the projection information to indicate that the running state changes and / or the reason for the change of the running state.

[0020] In the above technical solution, when the running state of the intelligent parking function changes, the indication of the change of the running state and / or the reason for the change of the running state is controlled, which helps to prompt the driver of the vehicle to take over the vehicle in time, reduces the probability of parking process being stuck, and thus improves the parking efficiency.

[0021] With reference to the first aspect, in some implementations of the first aspect, the control of the content of the projection information according to the vehicle state information includes: when the obstacle information indicates that there is a dynamic obstacle in a first range of the vehicle, and the vehicle state information indicates that the motion state is a driving state, the projection information is controlled to: prompt the vehicle to avoid the dynamic obstacle, or prompt the dynamic obstacle to avoid the vehicle; or when the obstacle information indicates that there is a dynamic obstacle in the first range of the vehicle, and the vehicle state information indicates that the motion state is switched from the driving state to a stop state, the projection information is controlled to: prompt the dynamic obstacle to pass.

[0022] In the above technical solution, the content of the projection information is controlled according to the detection situation of the obstacle and the motion state of the vehicle, which helps to provide differentiated prompts for different scenes and helps to improve the intelligent degree of the vehicle.

[0023] In some implementations of the first aspect, the vehicle state information further indicates whether a driver of the vehicle is in the vehicle, and the content of the projection information is controlled according to the vehicle state information, including: when the vehicle state information indicates that the driver of the vehicle is not in the vehicle and the motion state is the driving state, the projection information is controlled to prompt the moving obstacle to avoid the vehicle; or when the vehicle state information indicates that the driver of the vehicle is in the vehicle and the motion state is the driving state, the projection information is controlled to prompt the vehicle to avoid the moving obstacle.

[0024] In some implementations, when the vehicle is in the driving state and an obstacle appears in the driving direction of the vehicle, the projection information for prompting the moving obstacle to avoid the vehicle and / or prompting the vehicle to avoid the moving obstacle is controlled to be projected.

[0025] In the above technical solution, when a moving obstacle appears in the driving direction of the vehicle, different projection information is projected by the projection device according to the presence of the driver, which can avoid projecting useless projection information and help improve the utilization and effectiveness of the projection information.

[0026] In some implementations of the first aspect, the projection information includes text information, and the method further includes: when the projection information is used to prompt the moving obstacle to avoid the vehicle or when the projection information is used to prompt the moving obstacle to pass, the text information is controlled to be displayed in a first orientation according to the position of the moving obstacle relative to the vehicle, the first orientation matching the position of the moving obstacle relative to the vehicle.

[0027] In the above technical solution, the orientation of the text information is controlled according to the position of the moving obstacle, which can make the moving obstacle view the text in the right direction when the moving obstacle is a pedestrian, thereby improving the intelligibility of the text information and the information transmission efficiency of the projection information.

[0028] In some implementations of the first aspect, the method further includes: after the vehicle is parked in the target parking space, controlling the at least one light device to display third projection information, the third projection information indicating entrance information, the entrance information including at least one of: an entrance direction, a relative position between the entrance and the target parking space, a distance between the entrance and the target parking space, or a passing mode.

[0029] In the above technical solution, the entrance information is projected after parking is completed, which helps the user of the vehicle quickly determine the position of the entrance of the parking lot, reduces the time required to find the entrance, and helps improve the convenience of the user and the user experience.

[0030] In a second aspect, a control apparatus includes an obtaining unit and a processing unit, wherein the obtaining unit is configured to obtain vehicle state information and obstacle information, the vehicle state information indicating a motion state of a vehicle in a smart parking process, and the obstacle information indicating at least one of: whether there is a dynamic obstacle in a first range of the vehicle, or a position of at least one dynamic obstacle in the first range relative to the vehicle; and the processing unit is configured to control at least one projection apparatus to project projection information outside the vehicle according to the obstacle information, and to control a content of the projection information according to the vehicle state information.

[0031] With reference to the second aspect, in some implementations of the second aspect, the at least one projection apparatus includes a first apparatus configured to project an image in a first direction of the vehicle, and the processing unit is configured to control the first apparatus to project first projection information to a second position corresponding to a first position of a first obstacle of the at least one dynamic obstacle in the first direction when the obstacle information indicates that the first obstacle is located at the first position, or to project the first projection information to a fourth position corresponding to a third position of the first obstacle in the first direction when the obstacle information indicates that the first obstacle is located at the third position, wherein the first position and the third position are different from each other in distance from the vehicle.

[0032] With reference to the second aspect, in some implementations of the second aspect, the at least one projection apparatus includes a second apparatus configured to project an image in a second direction of the vehicle, and the processing unit is configured to control the second apparatus to project second projection information when the obstacle information indicates that a second obstacle of the at least one dynamic obstacle is located in the second direction.

[0033] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to control the projection information to indicate a driving direction of the vehicle when the vehicle state information indicates that the motion state is a driving state, or to indicate a reason for stopping of the vehicle when the vehicle state information indicates that the motion state is switched from the driving state to a stopped state, wherein the reason for stopping of the vehicle includes any one of: completion of parking, stopping for giving way, waiting for passage, and stopping for waiting for passengers to get on board.

[0034] With reference to the second aspect, in some implementations of the second aspect, the vehicle state information further indicates a current parking type of the vehicle, the first type is to control the vehicle to park into a target parking space, and the second type is to control the vehicle to park out of a parked position and drive to a target position; and the processing unit is configured to: when the vehicle state information indicates the first type and the motion state is switched from the driving state to the stopped state, control the projection information to indicate a reason for the vehicle stopping as any one of: waiting for a passenger to get on the vehicle, waiting for traffic, or stopping for a passing vehicle; or when the vehicle state information indicates the second type and the motion state is switched from the driving state to the stopped state, control the projection information to indicate the reason for the vehicle stopping as any one of: completion of parking, waiting for traffic, or stopping for a passing vehicle.

[0035] With reference to the second aspect, in some implementations of the second aspect, the vehicle state information further indicates a driving direction of the vehicle, the at least one projection device includes a third device for projecting an image in the driving direction, and the processing unit is configured to: when the obstacle information indicates that there is no dynamic obstacle in a second range of the driving direction of the vehicle, control the third device to project projection information indicating the driving direction of the vehicle.

[0036] With reference to the second aspect, in some implementations of the second aspect, the vehicle state information further indicates a running state of the intelligent parking function, and the processing unit is configured to: when the vehicle state information indicates that the running state changes from a first state to a second state, control the projection information to indicate that the running state changes and / or a reason for the change of the running state.

[0037] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: when the obstacle information indicates that there is a dynamic obstacle in the first range of the vehicle and the vehicle state information indicates that the motion state is the driving state, control the projection information to: prompt the vehicle to avoid the dynamic obstacle, or prompt the dynamic obstacle to avoid the vehicle; or when the obstacle information indicates that there is a dynamic obstacle in the first range of the vehicle and the vehicle state information indicates that the motion state is switched from the driving state to the stopped state, control the projection information to: prompt the dynamic obstacle to pass.

[0038] With reference to the second aspect, in some implementations of the second aspect, the vehicle state information further indicates whether a driver of the vehicle is in the vehicle, and the processing unit is configured to: when the vehicle state information indicates that the driver of the vehicle is not in the vehicle and the motion state is the driving state, control the projection information to: prompt the dynamic obstacle to avoid the vehicle; or when the vehicle state information indicates that the driver of the vehicle is in the vehicle and the motion state is the driving state, control the projection information to: prompt the vehicle to avoid the dynamic obstacle.

[0039] In some implementations of the second aspect, in conjunction with the second aspect, the projection information includes text information, and the processing unit is further configured to: control the text information to be displayed in a first orientation that matches a position of the dynamic obstacle relative to the vehicle, when the projection information is used to prompt the dynamic obstacle to yield to the vehicle, or when the projection information is used to prompt the dynamic obstacle to pass.

[0040] In some implementations of the second aspect, in conjunction with the second aspect, the processing unit is further configured to: after the vehicle parks in the target parking space, control the at least one light device to display third projection information, the third projection information indicating entrance information, the entrance information including at least one of: an entrance direction, a relative position of the entrance to the target parking space, a distance between the entrance and the target parking space, or a passing manner.

[0041] In the third aspect, a control device is provided, and the control device includes: a processor configured to execute a computer program stored in a memory to cause the device to perform the method in any possible implementation of the first aspect.

[0042] In some implementations of the third aspect, in conjunction with the third aspect, the control device further includes the memory.

[0043] In the fourth aspect, a computer program product is provided, and the computer program product includes: computer program code configured to cause a computer or a processor to perform the method in any possible implementation of the first aspect when the computer program code is executed on the computer or the processor.

[0044] It should be noted that the computer program code can be stored in whole or in part on a storage medium, and the storage medium can be packaged together with the processor or packaged separately from the processor.

[0045] In the fifth aspect, a computer readable storage medium is provided, and the computer readable medium stores instructions, which, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0046] In the sixth aspect, a chip is provided, and the chip includes a circuit configured to perform the method in any possible implementation of the first aspect.

[0047] In the seventh aspect, an intelligent driving device is provided, and the intelligent driving device includes the device in any possible implementation of the second aspect or the third aspect, or the intelligent driving device includes the computer readable storage in any possible implementation of the fifth aspect, or the intelligent driving device includes the chip in any possible implementation of the sixth aspect, or the intelligent driving device is loaded with the computer program code in any possible implementation of the fourth aspect.

[0048] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the intelligent driving device is a vehicle.

[0049] The beneficial effects not elaborated in the second aspect to the seventh aspect can be referred to the description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0050] FIG. 1 is a functional schematic block diagram of a vehicle according to an embodiment of the present application;

[0051] FIG. 2 is a schematic block diagram of a control system architecture according to an embodiment of the present application;

[0052] FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present application;

[0053] FIG. 4 is a schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0054] FIG. 5 is another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0055] FIG. 6 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0056] FIG. 7 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0057] FIG. 8 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0058] FIG. 9 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0059] FIG. 10 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0060] FIG. 11 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0061] FIG. 12 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0062] FIG. 13 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0063] FIG. 14 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0064] FIG. 15 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0065] FIG. 16 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0066] FIG. 17 is yet another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0067] FIG. 18 is yet another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0068] FIG. 19 is yet another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0069] FIG. 20 is yet another schematic flowchart of the control method according to an embodiment of the present application;

[0070] FIG. 21 is a schematic block diagram of a control device according to an embodiment of the present application;

[0071] FIG. 22 is yet another schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0073] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. As shown in FIG. 1, the vehicle 100 can include a perception system 120, a light device 130, and a computing platform 150, wherein the perception system 120 can include several sensors for sensing information of the environment around the vehicle 100. For example, the perception system 120 can include a positioning system, which can be a global navigation satellite system (GNSS, such as a global positioning system (GPS), a Beidou system, etc.). For another example, the perception system 120 can also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0074] The light device 130 can be one or more pixelized vehicle lights, which can include, but are not limited to, a light device based on digital light processing (DLP) technology, a light device based on micro light emitting diode (Micro-LED) technology, or a light device based on liquid crystal display (LCD). More specifically, the aforementioned pixelized vehicle light can include a front projection light for projecting a specific pattern to the road surface or other structures in front of the vehicle to achieve the purpose of prompting other road users; or the aforementioned pixelized vehicle light can also include a side projection light for projecting a specific pattern to the road surface or other structures on the side of the vehicle body, which can be respectively arranged on the left and / or right side of the vehicle body. In some implementations, the light device 130 can also include a tail light of the vehicle 100, which can be a matrix tail light composed of LED lamp beads, through which a series of patterns and / or texts can be displayed to prompt other road users of the intention of the ego vehicle. In yet some implementations, the light device 130 can also include a projection light arranged at the tail of the vehicle 100, which can project a specific pattern to the road surface or other structures behind the vehicle.

[0075] Some or all of the functionality of the vehicle 100 can be controlled by the computing platform 150. The computing platform 150 can include processors 151-15n, which are circuits that have the capability to process signals. In one implementation, the processors can be circuits that have the capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits that implement functionality through fixed or reconfigurable logic, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In reconfigurable hardware circuits, the processors load configuration documents to implement the configuration of the hardware circuits, which can be understood as the processors loading instructions to implement the functionality of some or all of the units described above. Additionally, the processors can be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. Additionally, the computing platform 150 can include a memory that stores instructions that can be called by some or all of the processors 151-15n to implement corresponding functionality.

[0076] The operation of the intelligent driving system can be controlled by the computing platform 150, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alerting, etc., thereby improving the safety, automation level and comfort of vehicle driving.

[0077] At different levels of autonomous driving (or intelligent driving, L0-L5 in total), the intelligent driving system can realize different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The above-mentioned levels of autonomous driving are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 is non-automation, L1 is driving assistance, L2 is partial automation, L3 is conditional automation, L4 is high automation, and L5 is full automation. The tasks of monitoring the road conditions and reacting are completed by the driver and the system together at L1 to L3 levels, and the driver needs to take over the dynamic driving task. At L4 and L5 levels, the driver can completely change into a passenger role. Currently, the functions that the intelligent driving system can realize mainly include but are not limited to adaptive cruise assistance, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assistance, rear vehicle collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above-mentioned various functions can have specific modes at different levels of autonomous driving (L0-L5), and the higher the level of autonomous driving, the more intelligent the corresponding mode. For example, for APA, the driver does not need to manipulate the steering wheel, but still needs to manipulate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the parking of the vehicle outside the vehicle; for AVP or VPD, the vehicle can complete parking without a driver. In terms of the corresponding level of autonomous driving, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0078] FIG. 2 shows a schematic block diagram of a control system architecture provided by an embodiment of the present application. As shown in FIG. 2, the system includes a perception module 210, a light module 220, and a control module 230. Specifically:

[0079] (1) The perception module 210 can include one or more cameras or one or more radar sensors in the perception system 120 shown in FIG. 1, for collecting environmental information of the area where the vehicle is located, such as information of parking lines, information of obstacles, etc. The perception module 210 can also process the collected environmental information to establish a world model including roads, obstacles, etc. for downstream modules (e.g., the control module 230). The perception module 210 can send the information it collects and / or determines to the control module 230.

[0080] (2) The light module 220 can include one or more light devices in the light devices 130 shown in FIG. 1, such as a front projection light, a side projection light, or can also include a rear light.

[0081] (3) The control module 230 can include one or more processors in the computing platform 150 shown in FIG. 1, for controlling one or more light devices in the light module 220 to display light information according to the environmental information obtained from the perception module 210 and vehicle state information, where the vehicle state information can indicate information such as a motion state (e.g., a driving state or a stopped state) of the vehicle, a driving direction of the vehicle, a parking type (e.g., parking into a target parking space or parking out of a parked parking space), an in-vehicle presence of a driver of the vehicle, or a running status of an intelligent parking function. More specifically, the control module 230 can include a light device determination module 231, a light information generation module 232, and a light control module 233. Wherein:

[0082] The light device determination module 231 is configured to determine one or more light devices to display light information according to the environmental information. For example, when the environmental information indicates that there is no dynamic obstacle within a preset range (e.g., within 10 meters, or within 15 meters, or other ranges) of the vehicle, the light device determination module 231 determines to use a front projection light to display light information. When the environmental information indicates that there is a dynamic obstacle within the preset range of the vehicle, the light device determination module 231 determines the light device to display light information according to the position of the dynamic obstacle relative to the vehicle. For example, when the dynamic obstacle is located in front of the vehicle, the light device determination module 231 determines to use a front projection light to display light information; when the dynamic obstacle is located at the side of the vehicle, the light device determination module 231 determines to use a side projection light to display light information; when the dynamic obstacle is located behind the vehicle, the light device determination module 231 determines to use a rear light to display light information. In some implementations, the light device determination module 231 can also determine one or more light devices to display light information according to the driving direction of the vehicle and the environmental information. For example, when the environmental information indicates that there is no dynamic obstacle within a preset range of the driving direction of the vehicle, and the driving direction of the vehicle is forward driving, the light device determination module 231 determines to use a front projection light to display light information; when the environmental information indicates that there is no dynamic obstacle within a preset range of the driving direction of the vehicle, and the driving direction of the vehicle is backward driving (i.e., reversing), the light device determination module 231 determines to use a rear light to display light information.

[0083] The light information generation module 232 is configured to determine the specific content of the light information and generate the light information according to the vehicle state information. For example, when the vehicle is in a driving state, the light information is used to indicate the driving direction of the vehicle; when the vehicle is switched from the driving state to a stop state, the light information is used to indicate the reason for the vehicle stopping. In some implementations, the image information generation module 232 can also determine the specific content of the light information and generate the light information according to the vehicle state information and the environment information. For example, when the vehicle is in a driving state and there is a dynamic obstacle in the driving direction of the vehicle, the light information is used to prompt the dynamic obstacle to avoid and / or prompt the driver to avoid the dynamic obstacle. For another example, when the vehicle is in a driving state, the driver of the vehicle is not in the vehicle, and there is a dynamic obstacle in the driving direction of the vehicle, the light information is used to prompt the dynamic obstacle to avoid.

[0084] The light control module 233 is configured to control the light device determined by the light device determination module 231 to display the specific content of the light information determined by the light information generation module 232. In addition, the light control module 233 can also control the specific position of the light information displayed by the light device according to the distance between the dynamic obstacle and the vehicle.

[0085] It should be noted that, in actual implementation, the light control module 233 can control one light device to display the light information in a time period; or the light control module 233 can also control multiple light devices to display the light information in a time period, and the light information displayed by the multiple light devices can be the same or different.

[0086] It should be further noted that the dynamic obstacle involved in the present application refers to an obstacle whose position changes over time, including pedestrians, vehicles and other movable entities.

[0087] It should be understood that the above modules are only an example, and in actual application, the above modules can be added or deleted according to actual needs. For example, in the system architecture shown in FIG. 2, the light device determination module 231 and the light information generation module 232 can be combined into one module. For another example, the control module 230 can include a planning control module configured to plan a driving path for the vehicle according to the environment information.

[0088] The above introduces the system involved in the embodiments of the present application, and the following details the method executed based on the system.

[0089] FIG. 3 shows a schematic flowchart of the control method provided by the embodiments of the present application. The method 300 can be executed by the vehicle 100 shown in FIG. 1 or by the control module 230 shown in FIG. 2, and the method includes:

[0090] S301, acquire vehicle state information and obstacle information, the vehicle state information indicates the running state of the vehicle, and the obstacle information indicates whether there is an obstacle around the vehicle and / or the position of the obstacle relative to the vehicle.

[0091] Exemplarily, the vehicle state information can include the vehicle state information in the foregoing embodiments, that is, the running state can include at least one of the motion state of the vehicle, the driving direction of the vehicle, the parking type, the in-situ situation of the driver of the vehicle, or the running state of the intelligent parking function. More specifically, the motion state of the vehicle includes the driving state or the stopping state. The parking type can include the parking-in type and the calling type, wherein the parking-in type is to control the vehicle to drive from a certain position to a target parking space and park in, and the calling type is to control the vehicle to drive from the parked position to a target position. The intelligent parking function can be any one of the APA, the RPA or the AVP, and the running state of the intelligent parking function can include the starting state, the in-use state, the pause state, the abnormal exit state and the parking completion exit state. The starting state can be understood as the state before the vehicle starts the intelligent parking function and does not drive; the in-use state can be understood as the state in which the vehicle drives under the intelligent parking function; the pause state can be understood as the state in which the vehicle stops driving under the intelligent parking function, but the intelligent parking function has not exited; the parking completion exit state refers to the state in which the vehicle parks in the target parking space or drives to the target position under the intelligent parking function, and the intelligent parking function is exited without being used; and the abnormal exit state refers to the state in which the intelligent parking function is exited without the vehicle parking in the target parking space or driving to the target position.

[0092] Exemplarily, the above-mentioned parked position can be a parking space framed by a parking line, or can also be a position other than the parking space for parking. The target position can be a position specified by the user of the vehicle, or can also be a position according to the position where the user of the vehicle is located. The above-mentioned target parking space can be any one of the parking space determined according to the parking line, the parkable area determined according to the position of the obstacle, the mechanical parking space, or the user-defined parkable area.

[0093] Exemplarily, the obstacle information can be information determined according to the environment information.

[0094] S302, generate light information and determine at least one light device for displaying the light information according to the vehicle state information and the obstacle information.

[0095] In some implementations, when the vehicle state information indicates that the vehicle is in a forward driving process, it can be determined to display the light information through the front projection lamp; when the vehicle state information indicates that the vehicle is in a backward driving process, it can be determined to display the light information through the rear lamp. Further, when the vehicle is in a driving process and there is no obstacle in the driving direction of the vehicle, the driving-related light information is generated, and it is determined to display the driving-related light information through the front projection lamp or the rear lamp. The driving-related light information can include the driving direction, and can also include the remaining distance of the current trip, the estimated remaining time, and the like. When the vehicle is in a driving process, an obstacle appears in the driving direction of the vehicle, and the distance between the obstacle and the vehicle is less than or equal to a distance threshold, the avoidance-related light information is generated, and it is determined to display the avoidance-related light information through the front projection lamp or the rear lamp. The avoidance-related light information is used to indicate that the obstacle avoids the vehicle, and / or indicates that the vehicle avoids the obstacle. When the vehicle changes from a driving state to a stop state due to the obstacle, it is determined to display the yielding-related light information through the front projection lamp or the rear lamp, and the yielding-related light information indicates that the obstacle passes.

[0096] For example, the aforementioned distance threshold can be 20 meters, 10 meters, or 5 meters, or can also be other numerical values.

[0097] In some implementations, as shown in (a) of FIG. 4, when an obstacle (such as obstacle A) appears behind the vehicle during the forward driving process of the vehicle, the warning light information can be displayed through the rear lamp. When an obstacle appears on the side of the vehicle during the driving process of the vehicle, the warning light information is generated, and it is determined to display the warning light information through the side projection lamp. As shown in (b) of FIG. 4, when obstacle B appears on the right side of the vehicle, the right side projection lamp is controlled to display the warning light information in area 401. The aforementioned warning light information is used to warn the obstacle to avoid the vehicle. That is, when the front projection lamp or the rear lamp displays the light information, the side projection lamp also displays the light information, but the content of the light information displayed by the side projection lamp can be different from the content of the light information displayed by the front projection lamp or the rear lamp.

[0098] In addition, when the intelligent parking function is in a starting state, a using state, and a quitting state respectively, the content of the light information is different. The two aforementioned implementations in this step can be regarded as the content of the light information determined when the intelligent parking function is in the using state, and at least one light device displaying the light information. When the operating state of the intelligent parking function changes, the operating state-related light information of the intelligent parking function can be displayed through the front projection lamp or the rear lamp.

[0099] S303, control at least one light device to display light information.

[0100] Specifically, the at least one light device determined in S302 is controlled to display light information of the corresponding content.

[0101] In some implementations, when displaying information through the front projection lamp, the projection range of the front projection lamp can also be controlled. For example, when there is a dynamic obstacle within a preset range (e.g., 5 meters or 10 meters or other distances) in front of the vehicle, the projection range of the front projection lamp is controlled according to the distance between the dynamic obstacle and the vehicle. For example, when the dynamic obstacle is close to the vehicle, the front projection lamp is controlled to project to the area close to the vehicle, and when the dynamic obstacle is far from the vehicle, the front projection lamp is controlled to project to the area far from the vehicle. As shown in (c) of FIG. 4, for the dynamic obstacle C, the front projection lamp is controlled to display avoidance-related light information in the area 402; as shown in (d) of FIG. 4, for the dynamic obstacle D, the front projection lamp is controlled to display avoidance-related light information in the area 403.

[0102] To facilitate understanding of the foregoing control scheme, the following describes the possible changes in light information in the process from starting the intelligent parking function (e.g., AVP) to controlling the vehicle to park into position, taking the parking type as the parking-in type as an example, in combination with FIGS. 5-13. The processing actions (e.g., control, generation, etc.) or steps involved in FIGS. 5-13 can be performed by the computing platform 150 shown in FIG. 1, or can also be performed by the control system shown in FIG. 2.

[0103] FIG. 5 shows an application scenario involved in an embodiment of the present application, which is a scenario of starting an intelligent parking function of a vehicle. In the process of starting the intelligent parking function, light information as shown in (a) of FIG. 5 can be generated, which includes a pattern 501 and a text 502. The pattern 501 indicates that the currently enabled intelligent parking function is an AVP function, and the text 502 indicates that the current stage is a starting stage of the intelligent parking function. Further, the light information can be projected to the ground in front of the vehicle through a front projection lamp, as shown in (b) of FIG. 5. In addition, in the process of starting the intelligent parking function, the light information shown in (a) of FIG. 5 can also be displayed through the tail light or the side projection lamp of the vehicle. In actual implementation, the light information can only include the text 502 or the pattern 501.

[0104] Fig. 6 shows another application scenario related to the embodiments of the present application, which is a scenario that a vehicle drives under the intelligent parking function. During the driving of the vehicle, the light information as shown in (a) of Fig. 6 can be generated, which includes the text 601 and the pattern 602. The text 601 indicates that the current vehicle is controlled by the intelligent parking function, and the pattern 602 indicates the planned driving direction of the vehicle. Further, the light information can be projected to the ground in front of the vehicle by the front projection lamp, as shown in (b) of Fig. 6. In addition, during the driving of the vehicle, if the driving direction of the vehicle is backward driving (i.e., reversing), the light information as shown in (a) of Fig. 6 can also be displayed by the tail lamp of the vehicle. In actual implementation, the pattern 501 in Fig. 5 can be used to replace the text 601 to indicate that the current vehicle is under the control of the intelligent parking function. In addition, the light information can also include more information, such as information indicating the remaining mileage, information indicating the time required to complete the remaining mileage, etc.

[0105] The light information shown in Fig. 6 can be understood as the light information displayed in the case that no dynamic obstacle appears in the driving direction of the vehicle. During the driving of the vehicle, the side projection lamp of the vehicle can be controlled to project the light information 701 as shown in Fig. 7 to the ground to prompt the pedestrians possibly existing on the side of the vehicle to pay attention to the vehicle. Alternatively, when no obstacle is detected on the side of the vehicle, the side projection lamp can be controlled not to project the light information 701, and when an obstacle is detected on the side of the vehicle, the side projection lamp can be controlled to project the light information 701.

[0106] It should be noted that before the vehicle drives to the target parking space under the control of the intelligent parking function, the vehicle can obtain the map information of the parking area containing the target parking space, which includes the information of at least one parking position in the parking area, at least one passable area, and the information of the connectivity relationship between the passable areas. The at least one parking position includes the target parking space, and the passable area can be understood as the drivable area of the vehicle. Further, the vehicle can plan a path for the vehicle to drive to the target parking space according to the position of the ego vehicle in the parking area, the position of the target parking space in the parking area, and the passable areas in the parking area, and control the light device of the vehicle to display the light information indicating the driving direction and the like during the driving of the vehicle to the target parking space according to the foregoing path.

[0107] FIG. 8 shows still another application scenario related to the embodiments of the present application, which is a scenario that a dynamic obstacle is detected within a preset range when a vehicle is driving under an intelligent parking function. Taking the driving direction of the vehicle as forward driving (i.e., driving toward the front of the vehicle) as an example, a dynamic obstacle (e.g., a pedestrian) is detected within a preset range in front of the vehicle, and the driver is in the vehicle, a light information as shown in (a) of FIG. 8 can be generated, which includes a pattern 801 and a text 802, both of which are used to prompt the driver to pay attention to the pedestrian in front of the vehicle, so that the driver can control the vehicle to brake under the condition that the vehicle is not braked. Further, the projection position of the light information can be controlled according to the distance between the dynamic obstacle and the vehicle. As shown in (b) of FIG. 8, when the dynamic obstacle 803 is far away from the vehicle, the light information shown in (a) of FIG. 8 can be projected to a position 804 corresponding to the position of the dynamic obstacle 803 by a front projection lamp. More specifically, the position 804 is aligned with the position of the dynamic obstacle 803, or the distance between the position 804 and the vehicle is less than the distance between the dynamic obstacle 803 and the vehicle, so that the driver has enough reaction time to control the vehicle to brake. As shown in (c) of FIG. 8, when the dynamic obstacle 805 is far away from the vehicle, the light information shown in (a) of FIG. 8 can be projected to a position 806 corresponding to the position of the dynamic obstacle 805 by the front projection lamp. More specifically, the position 806 is aligned with the position of the dynamic obstacle 805, or the distance between the position 806 and the vehicle is less than the distance between the dynamic obstacle 805 and the vehicle, so that the driver has enough reaction time to control the vehicle to brake. In actual implementation, the light information can also include only the text 802 or the pattern 801.

[0108] Still taking the positive driving as an example, in the case that a dynamic obstacle (e.g. a pedestrian) is detected in the preset range in front of the vehicle, the light information as shown in (a) of FIG. 9 can be generated, which includes a pattern 901 and a text 902, the pattern 901 is used to prompt attention to the pedestrian in front of the vehicle, and the text 902 is used to prompt the pedestrian to pay attention to the vehicle. Further, the light information can be projected to the ground in front of the vehicle by the front projection lamp, as shown in (b) of FIG. 9. In some implementations, the orientation of the text 902 can be adjusted according to the position of the pedestrian relative to the vehicle, so that the text 902 viewed by the pedestrian is positive, and the intelligibility of the text 902 is improved. For example, as shown in (a) of FIG. 10, the text "pay attention to the vehicle" can be rotated clockwise by 90° relative to the text 902. Further, as shown in (b) and (c) of FIG. 10, when the pedestrian 903 is located on the left side of the vehicle, the text 904 can be projected to the left by the front projection lamp; when the pedestrian 906 is located on the left side of the vehicle, the text 908 can be projected to the left by the front projection lamp. Wherein, the pattern 907 and the text 908 can be regarded as the results of flipping the text 904 and the pattern 905 left and right, which helps to reduce the complexity in the process of generating the light information.

[0109] In some implementations, the pattern 901 in the light information can also be replaced by the text 802, and the orientation of the text 802 is consistent with that shown in FIG. 8, so that the driver can view the positive text. In yet some implementations, the aforementioned pattern 901 can also be replaced by a pattern for indicating the pedestrian to pay attention to the vehicle. In still some implementations, in the case that the driver is not in the vehicle, the light information projected by the front projection lamp can not include information for prompting the driver to pay attention to the pedestrian in front of the vehicle, for example, does not include the pattern 901, or does not include the text 802.

[0110] Still taking the positive driving as an example, in the case that a dynamic obstacle (such as a pedestrian) is detected in the preset range in front of the vehicle, if the vehicle is parked under the control of the intelligent parking function, or the vehicle is parked under the control of the driver, the light information as shown in (a) of FIG. 11 can be generated, which includes a pattern 1001, a text 1002 and a pattern 1003, wherein the pattern 1001 is used to indicate that the current vehicle is controlled by the intelligent parking function, the text 1002 is used to indicate that the current reason for stopping the vehicle is to give way to driving, and the pattern 1003 is used to indicate the passing of the pedestrian. Further, when a dynamic obstacle is detected in front of the vehicle, for example, a pedestrian 1004 as shown in (b) of FIG. 11, the light information as shown in (b) of FIG. 11 can be projected to the front of the vehicle by the front projection lamp. It can be understood that in actual implementation, the orientation of the text 1002 can also be adjusted according to the position of the pedestrian relative to the vehicle, and the specific implementation can refer to the description of the corresponding parts of FIG. 9 and FIG. 10, which will not be described here. In some implementations, in the foregoing scenario, light information as shown in (c) of FIG. 11 can also be generated, which includes a text 1005 and a pattern 1006, wherein the text 1005 is oriented towards the direction of the pedestrian, and the pattern 1006 indicates the passing direction of the pedestrian.

[0111] It can be understood that, after the vehicle yields to the pedestrian and enters the continue driving state, the front projection lamp can continue to display the light information indicating the driving direction and the like as shown in FIG. 6; or, within a period of time (such as 3 seconds or 5 seconds, or other period of time) after the vehicle yields to the pedestrian, it is detected that the pedestrian has no intention to pass (such as the position of the pedestrian does not change), then the vehicle can end the waiting and enter the continue driving state, and in the case that the vehicle continues to drive, the front projection lamp can continue to display the light information indicating the driving direction and the like as shown in FIG. 6. Further, after the vehicle is controlled to park in the target parking space, light information indicating the entrance related information can be generated, wherein the entrance related information can include one or more of the following: the entrance direction, the relative position of the entrance and the target parking space, the distance between the entrance and the target parking space, or the passing direction. The passing way can include elevators, stairs, etc. For example, if it is detected that there are elevators near the target parking space, light information as shown in FIG. 12(a) can be generated, which includes patterns 1101 to 1103 and words 1104 to 1105, wherein the pattern 1101 indicates that there are elevators near the target parking space, the patterns 1102 and 1103 respectively indicate the positions of the elevators relative to the target parking space, for example, the pattern 1102 indicates that there is an elevator on the right side of the target parking space, and the pattern 1103 indicates that there is an elevator on the left side of the target parking space. The words 1104 and 1105 respectively indicate the distances between the elevators on the right side of the target parking space and the left side of the target parking space and the target parking space. Further, as shown in FIG. 12(a), the front projection lamp projects the light information as shown in FIG. 12(a) to the front of the vehicle.

[0112] It should be noted that, in actual implementation, if there is no elevator around the target parking space, only stairs, the pattern 1101 can also be a pattern related to the stairs. Or, if there is no elevator and stairs around the exit of the target parking space, the pattern 1101 can also be a pattern indicating the safety exit.

[0113] In actual implementation, the map information involved in the foregoing embodiments also indicates the position of one or more exits of the parking area, and the exit information can be determined by the vehicle according to the map information. In some scenarios, the target parking space where the vehicle is parked is surrounded by multiple exits, and the multiple exits are connected to different buildings, and the foregoing exit information can indicate the exit closest to the target parking space. Alternatively, the foregoing exit information can be determined according to the historical use habits of the user, for example, the multiple exits include exits 1 to 3, and the exit 1 is the exit frequently used by the user, and the foregoing exit information can indicate the exit 1. Alternatively, the foregoing exit information can be determined according to the selection of the user, for example, after the vehicle determines the multiple exits, the vehicle pushes the position information of the multiple exits to the user through a human machine interface (HMI) of the vehicle, and then the user selects an exit from the multiple exits, and the foregoing exit information can indicate the exit selected by the user. Exemplarily, the foregoing HMI can be a central control screen, or can be a sound emitting device (such as a loudspeaker, a sound box, or the like), or can be another prompting device.

[0114] In some implementations, after the vehicle is parked in the target parking space, the light information as shown in (a) of FIG. 13 can be generated, which includes the text 1201 indicating that the parking is completed and the pattern 1202 indicating that the parking process is performed under the intelligent parking function. In some implementations, when the driver of the vehicle is not in the vehicle, the light information can be projected to the ground in front of the vehicle by a front projection lamp, as shown in (b) of FIG. 13, which is obtained by rotating the light information shown in (a) of FIG. 13 by 180°, so that the driver outside the vehicle can more easily obtain the information conveyed by the light information. In yet some implementations, when the driver of the vehicle is in the vehicle, the light information shown in (a) of FIG. 13 can be projected to the ground by the front projection lamp, so that the text information viewed by the driver in the vehicle is in a positive direction, facilitating the driver to obtain the information conveyed by the light information. In actual implementation, the light information can only include the text 1201 or the pattern 1202.

[0115] It should be noted that the above description of the light information displayed when the parking type is the parking-in type is only an example, and the light information displayed when the parking type is the parking-in type can also refer to the descriptions of the corresponding parts of FIGS. 6 to 11. The difference between the light information displayed by the vehicle in the parking-in type and the parking-in type is that, after the vehicle drives to the target position in the parking-in type, the light information shown in (a) of FIG. 14 can be generated, which includes text 1301 and pattern 1302, the text 1301 indicates that the vehicle has been summoned to the position, and the pattern 1302 indicates that this parking process is performed under the intelligent parking function. Further, the light information can be projected to the ground in front of the vehicle by the front projection lamp, as shown in (b) of FIG. 14, to prompt the driver to get in the vehicle. In some implementations, after the vehicle drives to the target position, the driver is far away from the vehicle, or the driver does not get in the vehicle within a certain time (such as 10 seconds, or 15 seconds, or other time), the light information shown in (a) of FIG. 15 can be generated, which includes text 1401 and pattern 1402, the text 1401 indicates the reason for parking the vehicle, and the pattern 1402 indicates that the vehicle is currently controlled by the intelligent parking function. Further, the light information can be projected to the ground in front of the vehicle by the front projection lamp, as shown in (b) of FIG. 15. It should be noted that in actual implementation, for the scenarios shown in FIGS. 14 and 15, the light information can also include only the text 1301 and the text 1401, respectively.

[0116] In some implementations, during the parking and waiting process of the vehicle, the side projection lamp of the vehicle can also be controlled to project the light information 1501 shown in (a) of FIG. 16 to the ground to prompt the pedestrians that may exist to the side of the vehicle to the reason for the current parking of the vehicle. When the vehicle is temporarily parked due to other reasons, the side projection lamp of the vehicle can be controlled to project the light information 1502 shown in (b) of FIG. 16 to the ground to prompt the pedestrians that may exist to the side of the vehicle to the current temporary stop state of the vehicle. In some implementations, when no obstacle is detected to the side of the vehicle, the side projection lamp can be controlled not to project the light information 1501 or the light information 1502, and when an obstacle is detected to the side of the vehicle, the side projection lamp is controlled to project the light information 1501 or the light information 1502. Further, when it is detected that the user is about to get in the vehicle, the side projection lamp can be controlled to project the light information 1503 shown in (c) of FIG. 16 to the ground to welcome, so as to improve the user experience of using the vehicle.

[0117] In some implementations, the motion state of the vehicle can also change from the driving state to the stopping state when the vehicle enters or exits a gate of a parking area. As shown in (a) of FIG. 17, when the vehicle identifies the gate and the vehicle stops, the light information as shown in (b) of FIG. 17 can be generated, which includes the text 1601 and the pattern 1602. The text 1601 indicates that the vehicle is currently in the state of waiting for passage, and the pattern 1602 indicates that the vehicle is currently controlled by the intelligent parking function. Further, the light information can be projected to the ground in front of the vehicle by the front projection lamp, as shown in (c) of FIG. 17.

[0118] In some implementations, when the running state of the intelligent parking function of the vehicle changes, the light information indicating that the intelligent parking function of the vehicle changes can be generated, and the light device of the vehicle is controlled to display the aforementioned light information.

[0119] In an example, when the vehicle is in the process of being controlled by the intelligent parking function, and the intelligent parking function exits, the light information as shown in (a) of FIG. 18 can be generated, which includes the text 1701 and the pattern 1702. The text 1701 and the pattern 1702 indicate that the current running state of the intelligent parking function is the exit state. In some implementations, when the driver of the vehicle is not in the vehicle, the light information as shown in (a) of FIG. 18 can be projected to the ground in front of the vehicle by the front projection lamp, which is rotated 180° from the light information as shown in (a) of FIG. 18, so that the driver outside the vehicle can more easily obtain the information conveyed by the light information, thereby taking over the vehicle in time. In yet some implementations, when the driver of the vehicle is in the vehicle, the light information as shown in (a) of FIG. 18 can be projected to the ground by the front projection lamp, so that the text information viewed by the driver in the vehicle is positive, facilitating the driver to obtain the information conveyed by the light information, thereby taking over the vehicle. In actual implementation, the light information can only include the text 1701 or the pattern 1702.

[0120] In another example, in the process of controlling the vehicle to park into the target parking space, in the case that the vehicle cannot continue to park into the target parking space due to the existence of obstacles in the target parking space, the intelligent parking function will be switched from the in-use state to the suspended state. In this case, the reason why the running state of the intelligent parking function becomes the suspended state can be displayed by the light device, so that the driver of the vehicle can quickly eliminate the cause of the running state of the intelligent parking function becoming the suspended state, thereby improving the parking efficiency. For example, as shown in (a) of FIG. 19, in the process of parking into the target parking space, when it is detected that there are obstacles 1801 (such as cones and barrels) in the target parking space, the vehicle stops driving, and light information as shown in (b) of FIG. 19 can be generated, which includes text 1802 and a pattern 1803. The text 1802 is used to indicate the reason why the vehicle stops driving, and the running state of the intelligent parking function is abnormal (such as no longer in the in-use state). Further, when the user of the vehicle is located outside the vehicle, the light information can be projected by the front projection lamp to the ground in front of the vehicle, as shown in (c) of FIG. 19, so as to improve the efficiency of the user outside the vehicle in learning the actual meaning of the light information, and to encourage the user outside the vehicle to remove the obstacles 1801, thereby resuming the parking process; or when the users of the vehicle are located inside the vehicle, light information rotated by 180° relative to the light information shown in (c) of FIG. 19 can be projected by the front projection lamp to the ground in front of the vehicle, so as to improve the efficiency of the user inside the vehicle in learning the actual meaning of the light information, and to encourage the user inside the vehicle to remove the obstacles 1801, thereby resuming the parking process.

[0121] In another example, in the process of the vehicle in the intelligent parking, the intelligent parking function of the vehicle can be switched, for example, it can be switched from AVP to APA, or from RPA to AVP, etc. When the intelligent parking function is switched, the light device can be controlled to display light information indicating the parking function after the switching, so as to make the user of the vehicle or other road users or the intention of the vehicle.

[0122] It should be noted that the above FIGS. 5 to 19 all take the projection lamp projecting the light information to the ground outside the vehicle as an example for description. In actual implementation, the projection lamp can also project the light information to other buildings, for example, the light information in the foregoing embodiments can be projected to the wall or column or other buildings. In addition, the specific form of the light information involved in FIGS. 5 to 19 is only exemplary, and in actual implementation, other forms of light information can also be projected in the scenes involved in the foregoing embodiments, for example, light information including only text, or light information including only a pattern, etc. In addition, the orientation of the pattern in the light information involved in the foregoing embodiments can be adjusted according to the position of the pedestrian relative to the vehicle.

[0123] It should be noted that the control method provided in the embodiments of the present application can also be applied to the process of the vehicle driving on the road, and in addition, the light device can display other types of light information in addition to the light information involved in the foregoing embodiments. For example, when the driver is away from the vehicle and the vehicle door is not closed, the light device can be controlled to display light information indicating that the vehicle door is not closed, prompting the driver who is about to leave to pay attention to the state of the vehicle door; when the driver leaves the vehicle, the light device can be controlled to display light information indicating the state of the vehicle being locked and not being locked; or when the driver leaves the vehicle, the light device can also be controlled to display light information indicating that the vehicle is currently out of range, to indicate to the driver to refuel and / or charge the vehicle.

[0124] FIG. 20 shows another schematic flowchart of the control method provided in the embodiments of the present application. The method 20 can be applied to the vehicle shown in FIG. 1, or the method can be executed by the system shown in FIG. 2. More specifically, the method includes:

[0125] S21, obtaining vehicle state information and obstacle information, the vehicle state information indicating a motion state of the vehicle in the intelligent parking process, and the obstacle information indicating at least one of the following: whether there is a dynamic obstacle in a first range of the vehicle, or a position of at least one dynamic obstacle in the first range relative to the vehicle.

[0126] For example, the vehicle state information can be the vehicle state information in the method 300, and the obstacle information can be the obstacle information in the method 300. For specific implementation of obtaining the vehicle state information and the obstacle information, reference can be made to the description in the method 300, which will not be repeated here.

[0127] For example, the first range can include a range with a distance threshold 1 from the outer contour of the intelligent driving device, where the distance threshold 1 can be 10 meters, or 20 meters, or other distances; or the first range can also be the perception range of the perception system of the vehicle; or the first range can also be other ranges.

[0128] S22, controlling at least one projection device to project projection information outside the vehicle according to the obstacle information.

[0129] For example, the at least one projection device can include one or more pixel headlights in the light device 130.

[0130] In some implementations, the at least one projection device includes a first device that projects an image to a first direction of the vehicle, and S22 can be refined as: when the obstacle information indicates that a first obstacle in the at least one dynamic obstacle is located at a first position in the first direction, controlling the first device to project first projection information to a second position, the second position corresponding to the first position; or when the obstacle information indicates that the first obstacle is located at a third position in the first direction, controlling the first device to project the first projection information to a fourth position, the fourth position corresponding to the third position; wherein the first position and the third position are different from each other in distance from the vehicle.

[0131] For example, when the first direction is a front direction of the vehicle, the first device can be the front projection lamp in the foregoing embodiments; when the first direction is a side direction of the vehicle, the first device can be the side projection lamp in the foregoing embodiments; and when the first direction is a rear direction of the vehicle, the first device can be the projection lamp arranged at the rear of the vehicle in the foregoing embodiments.

[0132] For example, the second position corresponding to the first position can mean that the first projection information projected by the second position can be seen by the dynamic obstacle at the first position, so that the dynamic obstacle can avoid the vehicle according to the first projection information. The second position corresponding to the first position can include that the second position is aligned with the first position, or the distance between the second position and the vehicle is less than the distance between the first position and the vehicle. The meaning of the fourth position corresponding to the third position can be referred to the foregoing description, which will not be repeated here.

[0133] For example, when the first direction is a front direction of the vehicle, the dynamic obstacle 803 and the dynamic obstacle 805 shown in FIG. 8 can be regarded as some examples of the first obstacle, and the light information shown in (a) of FIG. 8 can be regarded as an example of the first projection information. The specific implementation of controlling the position of the projection information according to the position of the dynamic obstacle can be referred to the description of the corresponding part of FIG. 8, which will not be repeated here.

[0134] In some implementations, the at least one projection device includes a second device that projects an image to a second direction of the vehicle, and S22 can be refined as: when the obstacle information indicates that a second obstacle in the at least one dynamic obstacle is located in the second direction, controlling the second device to project second projection information.

[0135] For example, the second direction can be one or more of a front direction of the vehicle, a rear direction of the vehicle, and a side direction of the vehicle, and the second direction can be different from the first direction. For example, when the second direction is a right side of the vehicle, the light information shown in FIG. 7 and FIG. 16 can be regarded as some examples of the second projection information.

[0136] It can be understood that the first device and the second device can project the projection information at the same time within the same time period, and the projection information projected by the first device and the second device can be the same or can be different.

[0137] S23, controlling the content of the projection information according to the vehicle state information.

[0138] In some implementations, S23 can be refined as: when the vehicle state information indicates that the motion state is the driving state, controlling the projection information to indicate the driving direction of the vehicle; or when the vehicle state information indicates that the motion state is switched from the driving state to the stop state, controlling the projection information to indicate the reason for the vehicle to stop; wherein the reason for the vehicle to stop includes any one of the following: parking completion, parking for giving way, waiting for passage, and parking for waiting for passengers to get on.

[0139] In some implementations, the vehicle state information further indicates that the current parking type of the vehicle is a first type or a second type, the first type is to control the vehicle to park into a target parking space, and the second type is to control the vehicle to park out of a parked position and drive to a target position, and S23 can be refined as: including: when the vehicle state information indicates the first type and the motion state is switched from the driving state to the stop state, controlling the projection information to indicate that the reason for the vehicle to stop is any one of the following: parking for waiting for passengers to get on, waiting for passage, or parking for giving way; or when the vehicle state information indicates the second type and the motion state is switched from the driving state to the stop state, controlling the projection information to indicate that the reason for the vehicle to stop is any one of the following: parking completion, waiting for passage, or parking for giving way.

[0140] Exemplarily, the first type can be the aforementioned summoning type, and the second type can be the aforementioned parking-in type. When the parking type is the first type, the projection information can be the light information involved in any one of FIG. 11, FIG. 14, FIG. 15, and FIG. 17. When the parking type is the second type, the projection information can be the light information involved in any one of FIG. 11, FIG. 13, and FIG. 17. The light information shown in FIG. 11 can be regarded as an example of parking for giving way, the light information shown in FIG. 13 can be regarded as an example of parking completion, the light information shown in FIG. 14 and FIG. 15 can be regarded as some examples of parking for waiting for passengers to get on, and the light information shown in FIG. 17 can be regarded as an example of waiting for passage. More specifically, the implementation of controlling the projection information according to the parking type and the motion state of the vehicle can refer to the description of the corresponding parts of the aforementioned FIG. 11, FIG. 13 to FIG. 15, and FIG. 17, which will not be repeated here.

[0141] In some embodiments, the vehicle state information further indicates a driving direction of the vehicle, the at least one projection device further comprises a third device configured to project an image in the driving direction, and the control of the at least one projection device to project the projection information out of the vehicle according to the obstacle information comprises: when the obstacle information indicates that there is no dynamic obstacle in a second range of the driving direction of the vehicle, controlling the third device to project the projection information indicating the driving direction of the vehicle.

[0142] For example, the third device and the first device described above can be the same device, or the third device and the second device described above can be the same device, or the third device, the first device and the second device are all different light devices.

[0143] For example, the second range can be a range of a distance threshold 2 from the vehicle, where the distance threshold 2 can be 10 meters, or 20 meters, or other distances. When there is no dynamic obstacle in the second range of the driving direction of the vehicle, the projection information can include the light information shown in FIG. 6, and more specific implementation of controlling the projection information projected by the projection device, and the implementation of determining the driving direction of the vehicle under the intelligent parking function can refer to the description of the corresponding part of FIG. 6, which will not be repeated here.

[0144] In some embodiments, the vehicle state information further indicates a running state of the intelligent parking function, and S23 can be refined as: when the vehicle state information indicates that the running state changes from a first state to a second state, controlling the projection information to indicate that the running state changes and / or the reason for the change of the running state.

[0145] In an example, the running state of the intelligent parking function can include any one of a starting state, an in-use state, a paused state, an abnormal exit state and a parking completion exit state, and the first state and the second state can be any two of the running states described above. In another example, the first state and the second state can also be different running states of the intelligent parking function, for example, the first state can be APA, and the second state can be RPA; or the first state is APA or RPA, and the second state is AVP.

[0146] For example, the light information shown in FIG. 5 and FIG. 18 can be regarded as some examples of the projection information indicating the change of the running state, and the light information shown in FIG. 19 can be regarded as an example of the reason for the change of the running state. More specific implementation of controlling the projection information according to the running state of the intelligent parking function can refer to the description of the corresponding part of FIG. 5, FIG. 18 and FIG. 19, which will not be repeated here.

[0147] In some implementations, S23 can be refined as: when the obstacle information indicates that there is a dynamic obstacle in the first range of the vehicle, and the vehicle state information indicates that the motion state is a driving state, the control of the projection information is for: prompting the dynamic obstacle to avoid the vehicle, or prompting the dynamic obstacle to pass; or when the obstacle information indicates that there is a dynamic obstacle in the first range of the vehicle, and the vehicle state information indicates that the motion state is switched from the driving state to the stopping state, the control of the projection information is for: prompting the dynamic obstacle to pass.

[0148] In an example, when the motion state of the vehicle is the driving state, and a dynamic obstacle appears in the driving direction of the vehicle, the projection device corresponding to the driving direction is controlled to display projection information prompting the dynamic obstacle to avoid the vehicle, which can be specifically referred to the description of the corresponding part of FIG. 8; when a dynamic obstacle appears in the side of the vehicle, the side projection lamp is controlled to display projection information prompting the dynamic obstacle to avoid the vehicle, which can be specifically referred to the description of the corresponding part of FIG. 7.

[0149] In another example, when the motion state of the vehicle is the driving state, and a dynamic obstacle appears in the driving direction of the vehicle, the projection device corresponding to the driving direction is controlled to display projection information prompting the vehicle to avoid the dynamic obstacle, which can be specifically referred to the description of the corresponding part of FIG. 9 and FIG. 10.

[0150] It can be understood that, in the process of driving the vehicle, when the driving direction of the vehicle changes from no dynamic obstacle to dynamic obstacle, the projection device corresponding to the driving direction can be controlled to change from displaying the light information shown in FIG. 6 to displaying the light information shown in any one of FIG. 8 to FIG. 10.

[0151] In another example, when a dynamic obstacle appears in the driving direction of the vehicle, and the vehicle stops due to the dynamic obstacle, the projection device corresponding to the driving direction is controlled to display projection information prompting the dynamic obstacle to pass, which can be specifically referred to the description of the corresponding part of FIG. 11.

[0152] In some implementations, the vehicle state information further indicates whether the driver of the vehicle is in the vehicle, and S23 can be refined as: when the vehicle state information indicates that the driver of the vehicle is not in the vehicle, and the motion state is the driving state, the control of the projection information is for: prompting the dynamic obstacle to avoid the vehicle; or when the vehicle state information indicates that the driver of the vehicle is in the vehicle, and the motion state is the driving state, the control of the projection information is for: prompting the vehicle to avoid the dynamic obstacle.

[0153] In some implementations, the projection information includes text information, and the method further includes: when the projection information is for prompting the dynamic obstacle to avoid the vehicle, or when the projection information is for prompting the dynamic obstacle to pass, the text information is controlled to be displayed in a first orientation, and the first orientation matches the position of the dynamic obstacle relative to the vehicle.

[0154] Exemplarily, the first orientation is matched with the position of the dynamic obstacle relative to the vehicle, which can be understood as: the first orientation makes the text information viewed by the dynamic obstacle positive, so as to improve the intelligibility of the text information. The specific implementation of controlling the orientation of the text information can refer to the description of the corresponding parts of FIG. 9 and FIG. 10, which will not be repeated here.

[0155] In some implementations, the method further includes: after the vehicle parks in the target parking space, controlling the at least one light device to display third projection information, the third projection information indicating entrance information, the entrance information including at least one of: an entrance direction, a relative position of the entrance to the target parking space, a distance between the entrance and the target parking space, or a passing manner.

[0156] Exemplarily, the light information shown in FIG. 12 can be regarded as an example of the third projection information, and the specific implementation of controlling the at least one light device to display the third projection information can refer to the description of the corresponding parts of FIG. 12, which will not be repeated here.

[0157] The control method provided by the embodiments of the present application can project projection information to the outside of the vehicle according to the motion state of the vehicle and the obstacle information around the vehicle when the vehicle is in the automatic parking process, so that the traffic participants around the vehicle know the intention of the vehicle, thereby improving the parking efficiency and driving safety.

[0158] In various embodiments of the present application, the terms and / or descriptions between various embodiments are consistent and can be mutually referred to if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0159] The method provided by the embodiments of the present application is described in detail above in combination with FIG. 1 to FIG. 20. The device provided by the embodiments of the present application will be described in detail below in combination with FIG. 21 and FIG. 22. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can refer to the method embodiments described above, and for brevity, will not be repeated here.

[0160] FIG. 21 shows a schematic block diagram of a control device 2000 provided by the embodiments of the present application, which can include units for executing the methods described in the foregoing embodiments. Moreover, each unit in the device 2000 is configured to implement the corresponding flow of the method embodiments described above. The device 2000 includes an acquisition unit 2010, which can be configured to implement the corresponding data acquisition or transceiving function. The device 2000 further includes a processing unit 2020, which can be configured to implement the corresponding processing function.

[0161] Optionally, the apparatus 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit to enable the apparatus to implement the relevant actions in the foregoing various method embodiments.

[0162] It should be understood that the specific processes by which the units perform the corresponding steps described above have been described in detail in the foregoing method embodiments, and thus will not be described here again for brevity.

[0163] It should also be understood that the apparatus 2000 here is embodied in the form of functional units. The term “module” or “unit” here can refer to an application-specific ASIC, an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group of processors) and a memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components supporting the described functions.

[0164] The apparatus of each of the foregoing solutions has the function of implementing the corresponding steps performed by the computing platform 150 in the foregoing methods. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the foregoing functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, for performing the relevant processing operations in the various method embodiments.

[0165] Illustratively, the acquisition unit 2010 and the processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or can also be disposed in the system shown in FIG. 2, and more specifically, the acquisition unit 2010 and the processing unit 2020 described above can be disposed in a desktop launcher. Illustratively, the operations performed by the acquisition unit 2010 and the processing unit 2020 described above can be performed by one processor, or can also be performed by different processors. In a specific implementation process, the one or more processors described above can be processors disposed in the vehicle 100 shown in FIG. 1; or the apparatus 2000 described above can be a chip disposed in the vehicle 100.

[0166] In a specific implementation process, the units in the foregoing apparatus can be integrated together, or can also be implemented independently. In one implementation, the units are integrated together to be implemented in the form of a system on a chip (SoC).

[0167] Fig. 22 is another schematic block diagram of a control device according to an embodiment of the present application. The device 2100 shown in Fig. 22 can include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through internal connection paths. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or integrated with the processor 2110.

[0168] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiving device such as an input / output interface, to enable communication between the device 2100 and other devices or communication networks.

[0169] The memory 2130 can be a volatile memory and / or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM). For example, the RAM can be used as an external cache. By way of example and not limitation, the RAM includes the following varieties: static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0170] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver, to enable communication between the device 2100 and other devices or communication networks, to receive / send data / information used to implement the methods in the above embodiments.

[0171] The embodiment of the present application further provides an intelligent driving device, which comprises the device 2000 or the device 2100 in the above embodiment.

[0172] The intelligent driving device related to the embodiment of the present application can comprise a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the intelligent driving device can be a vehicle, which is a vehicle in a broad sense, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an entertainment device, a toy vehicle, etc. The type of the vehicle is not limited in the embodiment of the present application.

[0173] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes run on a computer, the computer program codes make the computer implement the method in the above embodiment of the present application.

[0174] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions run on a computer, the computer instructions make the computer implement the method in the above embodiment of the present application.

[0175] The embodiment of the present application further provides a chip, which comprises a circuit, and is used for executing the method in the above embodiment of the present application.

[0176] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be described herein.

[0177] In the description of the embodiment of the present application, unless otherwise specified, “ / ” represents the meaning of or, for example, A / B can represent A or B; “and / or” herein is a description of the association relationship of the associated object, which means that there can be three kinds of relationships, for example, A and / or B can represent: A alone, A and B exist together, and B alone. In the present application, “at least one” means one or more, and “multiple” means two or more. “At least one of the following” or similar expressions means any combination of these items, including any combination of single item (s) or multiple items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, and c can be single or multiple.

[0178] The prefix of "first", "second" and the like in the embodiments of the present application are merely used to distinguish different description objects, and do not have the limitation on the position, order, priority, number or content of the described objects. The use of the prefix of ordinal numbers and the like for distinguishing the description objects in the embodiments of the present application does not constitute the limitation on the described objects, and the description of the described objects should refer to the description in the context of the claims or embodiments, and should not constitute the redundant limitation because of the use of the prefix.

[0179] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0180] In each embodiment of the present application, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to, if there is no special description and logical conflict. The technical features in different embodiments can be combined to form a new embodiment according to the inherent logical relationship.

[0181] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0182] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0183] The above is merely specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method characterized by, The method comprises: obtaining vehicle state information and obstacle information, the vehicle state information indicating a movement state of a vehicle in an intelligent parking process, and the obstacle information indicating at least one of: whether there is a dynamic obstacle in a first range of the vehicle, or a position of at least one dynamic obstacle in the first range relative to the vehicle; controlling at least one projection device to project projection information outside the vehicle according to the obstacle information; controlling content of the projection information according to the vehicle state information.

2. The method of claim 1, wherein, The at least one projection device comprises a first device that projects an image in a first direction of the vehicle, and the controlling at least one projection device to project projection information outside the vehicle according to the obstacle information comprises: controlling the first device to project first projection information to a second position corresponding to a first position of a first obstacle in the at least one dynamic obstacle in the first direction when the obstacle information indicates that the first obstacle is located at the first position; or controlling the first device to project the first projection information to a fourth position corresponding to a third position of the first obstacle in the first direction when the obstacle information indicates that the first obstacle is located at the third position; and wherein the first position and the third position are different distances from the vehicle.

3. The method according to claim 1 or 2, characterized in that, The at least one projection device comprises a second device that projects an image in a second direction of the vehicle, and the controlling at least one projection device to project projection information according to the obstacle information comprises: controlling the second device to project second projection information when the obstacle information indicates that a second obstacle in the at least one dynamic obstacle is located in the second direction.

4. The method according to any one of claims 1 to 3, characterized in that, The controlling content of the projection information according to the vehicle state information comprises: controlling the projection information to indicate a driving direction of the vehicle when the vehicle state information indicates that the movement state is a driving state; or controlling the projection information to indicate a reason for the vehicle to stop when the vehicle state information indicates that the movement state is switched from the driving state to a stop state; and wherein the reason for the vehicle to stop comprises any one of: completion of parking, stopping for a right of way, waiting for a traffic light to turn green, or waiting for a passenger to get on the vehicle.

5. The method of claim 4, wherein, The vehicle state information further indicates that a current parking type of the vehicle is a first type or a second type, the first type being to control the vehicle to park into a target parking space, and the second type being to control the vehicle to park out of a parked position and drive to a target position; The controlling content of the projection information according to the vehicle state information comprises: controlling the projection information to indicate that the reason for the vehicle to stop is any one of: waiting for a passenger to get on the vehicle, waiting for a traffic light to turn green, or stopping for a right of way when the vehicle state information indicates the first type and the movement state is switched from the driving state to the stop state; or controlling the projection information to indicate that the reason for the vehicle to stop is any one of: waiting for a passenger to get on the vehicle, waiting for a traffic light to turn green, or stopping for a right of way when the vehicle state information indicates the second type and the movement state is switched from the driving state to the stop state. When the vehicle state information indicates the second type and the motion state is switched from the driving state to the stopping state, the projection information is controlled to indicate that the vehicle stops for any one of the following reasons: parking completion, waiting for passage, or parking for giving way.

6. The method according to claim 4 or 5, characterized in that, The vehicle state information further indicates a driving direction of the vehicle, the at least one projection device includes a third device for projecting an image in the driving direction, and the controlling the at least one projection device to project the projection information outside the vehicle according to the obstacle information includes: When the obstacle information indicates that there is no dynamic obstacle in a second range of the driving direction of the vehicle, the third device is controlled to project the projection information indicating the driving direction of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that, The vehicle state information further indicates an operating state of an intelligent parking function, and the controlling the content of the projection information according to the vehicle state information includes: When the vehicle state information indicates that the operating state changes from a first state to a second state, the projection information is controlled to indicate that the operating state changes and / or a reason for the change of the operating state.

8. The method according to any one of claims 1 to 7, characterized in that, The controlling the content of the projection information according to the vehicle state information includes: When the obstacle information indicates that there is a dynamic obstacle in a first range of the vehicle and the vehicle state information indicates that the motion state is a driving state, the projection information is controlled to prompt the vehicle to avoid the dynamic obstacle or prompt the dynamic obstacle to avoid the vehicle; or When the obstacle information indicates that there is a dynamic obstacle in the first range of the vehicle and the vehicle state information indicates that the motion state is switched from the driving state to the stopping state, the projection information is controlled to prompt the dynamic obstacle to pass.

9. The method of claim 8, wherein, The vehicle state information further indicates whether a driver of the vehicle is in the vehicle, and the controlling the content of the projection information according to the vehicle state information includes: When the vehicle state information indicates that the driver of the vehicle is not in the vehicle and the motion state is the driving state, the projection information is controlled to prompt the dynamic obstacle to avoid the vehicle; or When the vehicle state information indicates that the driver of the vehicle is in the vehicle and the motion state is the driving state, the projection information is controlled to prompt the vehicle to avoid the dynamic obstacle.

10. The method according to claim 8 or 9, characterized in that, The projection information includes text information, and the method further includes: When the projection information is used to prompt the dynamic obstacle to avoid the vehicle or when the projection information is used to prompt the dynamic obstacle to pass, the text information is controlled to be displayed in a first orientation according to a position of the dynamic obstacle relative to the vehicle, the first orientation matching the position of the dynamic obstacle relative to the vehicle.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: After the vehicle parks in the target parking space, at least one light device is controlled to display third projection information, the third projection information indicating entrance information, the entrance information including at least one of the following: an entrance direction, a relative position between an entrance and the target parking space, a distance between the entrance and the target parking space, or a passage mode.

12. A control device characterized by comprising: The method further includes: An acquisition unit is configured to acquire vehicle state information and obstacle information, the vehicle state information indicating a motion state of a vehicle in an intelligent parking process, and the obstacle information indicating at least one of whether a dynamic obstacle exists in a first range of the vehicle or a position of at least one dynamic obstacle in the first range relative to the vehicle; A processing unit is configured to control at least one projection device to project projection information outside the vehicle according to the obstacle information. The processing unit is further configured to control content of the projection information according to the vehicle state information.

13. The apparatus of claim 12, wherein, The at least one projection device includes a first device configured to project an image in a first direction of the vehicle, and the processing unit is configured to: control the first device to project first projection information to a second position corresponding to a first position of a first dynamic obstacle in the at least one dynamic obstacle in the first direction when the obstacle information indicates that the first dynamic obstacle is located at the first position; or control the first device to project the first projection information to a fourth position corresponding to a third position of the first dynamic obstacle in the at least one dynamic obstacle in the first direction when the obstacle information indicates that the first dynamic obstacle is located at the third position; and wherein the first position and the third position are different from the vehicle in distance.

14. The apparatus of claim 12 or 13, wherein, The at least one projection device includes a second device configured to project an image in a second direction of the vehicle, and the processing unit is configured to: control the second device to project second projection information when the obstacle information indicates that a second dynamic obstacle in the at least one dynamic obstacle is located in the second direction.

15. The apparatus of any one of claims 12-14, wherein, The processing unit is configured to: control the projection information to indicate a driving direction of the vehicle when the vehicle state information indicates that the motion state is a driving state; or control the projection information to indicate a reason for stopping the vehicle when the vehicle state information indicates that the motion state is switched from the driving state to a stopping state. The reason for stopping the vehicle includes any one of the following: parking completion, stopping for giving way, waiting for passage, and stopping for waiting for passengers to get on.

16. The apparatus of claim 15, wherein, The vehicle state information further indicates that a current parking type of the vehicle is a first type or a second type, the first type being to control the vehicle to park into a target parking space, and the second type being to control the vehicle to park out of a parked position and drive to a target position; The processing unit is configured to: control the projection information to indicate that the reason for stopping the vehicle is any one of the following: stopping for waiting for passengers to get on, waiting for passage, or stopping for giving way when the vehicle state information indicates the first type and the motion state is switched from the driving state to the stopping state; or control the projection information to indicate that the reason for stopping the vehicle is any one of the following: parking completion, waiting for passage, or stopping for giving way when the vehicle state information indicates the second type and the motion state is switched from the driving state to the stopping state.

17. The apparatus of claim 15 or 16, wherein, The vehicle state information further indicates a driving direction of the vehicle, the at least one projection device comprises a third device for projecting an image towards the driving direction, and the controlling at least one projection device to project projection information outside the vehicle according to the obstacle information comprises: controlling the third device to project the projection information indicating the driving direction of the vehicle when the obstacle information indicates that there is no dynamic obstacle within a second range of the driving direction of the vehicle.

18. The apparatus of any one of claims 12-17, wherein, The vehicle state information further indicates an operating state of an intelligent parking function, and the processing unit is configured to: controlling the projection information to indicate that the operating state has changed and / or a reason for the change of the operating state when the vehicle state information indicates that the operating state has changed from a first state to a second state.

19. The apparatus of any one of claims 12-18, wherein, The processing unit is configured to: controlling the projection information to prompt the vehicle to avoid the dynamic obstacle or to prompt the dynamic obstacle to avoid the vehicle when the obstacle information indicates that there is a dynamic obstacle within a first range of the vehicle and the vehicle state information indicates that the motion state is a driving state; or, controlling the projection information to prompt the dynamic obstacle to pass when the obstacle information indicates that there is a dynamic obstacle within a first range of the vehicle and the vehicle state information indicates that the motion state is switched from a driving state to a stop state.

20. The apparatus of claim 19, wherein, The vehicle state information further indicates whether a driver of the vehicle is in the vehicle, and the processing unit is configured to: controlling the projection information to prompt the dynamic obstacle to avoid the vehicle when the vehicle state information indicates that the driver of the vehicle is not in the vehicle and the motion state is a driving state; or, controlling the projection information to prompt the vehicle to avoid the dynamic obstacle when the vehicle state information indicates that the driver of the vehicle is in the vehicle and the motion state is a driving state.

21. The apparatus of claim 19 or 20, wherein, The projection information comprises text information, and the processing unit is further configured to: controlling the text information to be displayed in a first orientation matching a position of the dynamic obstacle relative to the vehicle when the projection information is used to prompt the dynamic obstacle to avoid the vehicle or when the projection information is used to prompt the dynamic obstacle to pass.

22. The apparatus of any one of claims 12-21, wherein, The processing unit is further configured to: controlling at least one light device to display third projection information indicating entrance information after the vehicle parks in the target parking space, the entrance information comprising at least one of an entrance direction, a relative position between an entrance and the target parking space, a distance between the entrance and the target parking space, or a passing mode.

23. A control device characterized by comprising: comprising: a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method of any one of claims 1 to 11.

24. The apparatus of claim 23, wherein, The apparatus further comprises the memory.

25. An intelligent driving device, comprising: comprising the apparatus of any one of claims 12 to 24.

26. A computer-readable storage medium, characterized in that, instructions stored thereon, which when executed by a processor, implement the method of any one of claims 1 to 11.

27. A computer program product, characterised in that, The computer program product comprises computer program code which, when run by a processor, implements the method of any one of claims 1 to 11.

28. A chip, characterized by The chip comprises circuitry for performing the method of any one of claims 1 to 11.

Images