Projection method, projection apparatus and related product

Abstract

A projection method, a projection apparatus and a related product relating to the field of autonomous driving. The projection method comprises: a projection apparatus (250) projects a light beam into a first environment, the projected light beam being a light beam obtained by filtering using a first filtering parameter set, wherein the first filtering parameter set is determined on the basis of first environment information corresponding to the first environment, such that the first filtering parameter set is continuously adjusted on the basis of the change of the first environment information, and a light beam outputted from the projection apparatus (250) also changes on the basis of the change of the first filtering parameter set, thereby achieving the effect that the projection apparatus (250) projects different patterns in the first environment. The projection method utilizes the filtering characteristics of a filtering unit, so that the projection apparatus (250) projects different patterns, thereby facilitating a simplified and low-cost design of the projection apparatus.

Description

Projection methods, projection devices and related products Technical Field

[0001] This application relates to the field of autonomous driving, and in particular to a projection method, projection device and related products. Background Technology

[0002] All vehicles are equipped with indicator lights that provide corresponding reminders. The vehicles can be autonomous vehicles (also known as self-piloting automobiles), or driverless vehicles. These vehicles can also be cars, trucks, motorcycles, public vehicles, lawnmowers, recreational vehicles, amusement park vehicles, trams, golf carts, trains, or handcarts, etc.

[0003] Existing vehicle indicator lights, such as headlights, taillights, and turn signals, also have relatively simple reminder functions, only able to remind or illuminate the driving path.

[0004] Summary of the Invention

[0005] This application provides a projection method, a projection device, and related products. The projection method provided by this application can determine the set of filtering parameters of the filtering unit array in the projection device according to the environment in which the projection device is located, so that the projection device can project a specified pattern in the environment to achieve rich projection functions.

[0006] In a first aspect, this application provides a projection method applied to a projection device, comprising: the projection device projecting a light beam into a first environment, wherein the light beam emitted by the projection device is a light beam obtained after filtering with a first set of filtering parameters, the environment in which the projection device is located is the first environment, and the first set of filtering parameters is determined based on first environment information corresponding to the first environment.

[0007] In this application, the beam emitted by the projection device is a beam obtained after filtering by a first set of filtering parameters. The first set of filtering parameters includes multiple filtering parameters used to filter the beam projected by the projection device at different positions. The first set of filtering parameters is determined based on first environmental information corresponding to a first environment, causing it to be continuously adjusted as the first environmental information changes. Furthermore, the beam emitted by the projection device also changes with the first set of filtering parameters. In other words, the beam emitted by the projection device is continuously adjusted according to changes in the first environmental information, enabling changes in the illumination area, illumination range, illumination brightness, and polarization direction as the first environmental information changes. Further understanding is that the projection device provided in this application can project different patterns in a first environment based on changes in the first environmental information. For example, in the case of a narrow road, the projection device can project a light carpet with a width equal to the road through which vehicles are waiting to pass, to assist vehicles in passing safely. It should be noted that the projection method provided in this application, combining first environmental information and the filtering characteristics of the filtering unit, enables the projection device to project different patterns based on different environmental information, which is beneficial for the simplification and low-cost design of the projection device.

[0008] Optionally, the first filter parameter set includes multiple first filter parameters, and the filtering methods of the first filter parameters include intensity filtering and / or polarization filtering.

[0009] In one possible implementation, the filtering parameters in the first set of filtering parameters include a filtering method and a filtering attribute corresponding to the filtering method. If the filtering method includes polarization filtering, the filtering attribute includes the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation caused by the polarization filtering in the polarization direction. And / or, if the filtering method includes intensity filtering, the filtering attribute includes the degree of light intensity attenuation caused by the intensity filtering.

[0010] In the above embodiments, when the filtering method includes polarization filtering, the beam emitted by the projection device can include a beam with a specified polarization state. When the filtering method includes intensity filtering, the light intensity of the beam emitted by the projection device can be reduced. Furthermore, the filtering parameters also include filtering attributes corresponding to the filtering method. By adjusting the filtering attributes, the degree of light intensity attenuation caused by polarization filtering and / or the degree of light intensity attenuation caused by intensity filtering can be changed, thereby ensuring that the beam emitted by the projection device includes a beam with a specified light intensity. Further, by combining each filtering parameter in the first filtering parameter set to filter beams projected by the projection device at different positions, the projection device can project different patterns in the first environment.

[0011] In another possible implementation, the filtering method in the first set of filtering parameters is polarization filtering, with the polarization direction being vertical and / or horizontal.

[0012] In the above embodiments, each filter parameter in the first filter parameter set is a polarization filter, and the polarization direction of the polarization filter is vertical and / or horizontal, so that the beam emitted by the projection device is a horizontally polarized beam or a vertically polarized light. By using polarization filtering to make the projection device emit polarized light with a specified polarization direction, it is easier for the illuminated object to filter the beam emitted by the projection device, thereby reducing the interference of the beam emitted by the projection device on other objects.

[0013] In another possible implementation, the first set of filtering parameters includes a first filtering parameter and a second filtering parameter. The beam emitted by the projection device includes a beam filtered with the first filtering parameter and a beam filtered with the second filtering parameter, wherein the first filtering parameter and the second filtering parameter are different.

[0014] In the above embodiments, the first set of filtering parameters includes multiple filtering parameters used to filter the light beams projected by the projection device at different positions. The first filtering parameter and the second filtering parameter in the first set are different, resulting in the light beams projected by the projection device at different positions having different light intensities and / or polarization states. For example, the first filtering parameter is used to filter the light beam projected by the projection device at a first position, and the second filtering parameter is used to filter the light beam projected by the projection device at a second position. When the filtering method of the first filtering parameter is polarization filtering and the filtering method of the second filtering parameter is intensity filtering, the light beam projected by the projection device at the first position is polarized light, and the light beam projected by the projection device at the second position is unpolarized light.

[0015] Optionally, the first filtering parameter and the second filtering parameter may differ, including in filtering method and / or filtering attribute. For example, the filtering method may differ in that the first filtering parameter uses polarization filtering while the second filtering parameter uses intensity filtering. Another example is that the filtering attributes may differ in the degree of light intensity attenuation or the polarization direction.

[0016] In another possible implementation, both the filtering methods of the first and second filtering parameters include intensity filtering, but the degree of light intensity attenuation corresponding to intensity filtering in the first and second filtering parameters is different.

[0017] In the above embodiments, both the filtering methods of the first and second filtering parameters include intensity filtering. Furthermore, the degree of light intensity attenuation corresponding to intensity filtering in the first and second filtering parameters differs, resulting in different beam intensities projected by the projection device at different positions. For example, the first filtering parameter is used to filter the beam projected by the projection device at a first position, and the second filtering parameter is used to filter the beam projected by the projection device at a second position. The degree of light intensity attenuation corresponding to intensity filtering in the first filtering parameter is greater than the degree of light intensity attenuation corresponding to intensity filtering in the second filtering parameter, causing the beam intensity projected by the projection device at the first position to be less than the beam intensity projected by the projection device at the second position.

[0018] In another possible implementation, the first environmental information includes relevant information about the first object and relevant information about the second object. The beam obtained by filtering with the first filtering parameters is projected onto the first object, and the beam obtained by filtering with the second filtering parameters is projected onto the second object.

[0019] In the above embodiments, the first filtering parameter and the second filtering parameter are different. The beam obtained by filtering with the first filtering parameter is projected onto the first object, and the beam obtained by filtering with the second filtering parameter is projected onto the second object, so that the beams projected by the projection device onto the first object and the second object are different.

[0020] Optionally, the first filtering parameter is determined based on the relevant information of the first object, and the second filtering parameter is determined based on the relevant information of the second object.

[0021] In another possible implementation, the first object includes other traffic participants, and the second object includes the road surface or an object on the road surface other than other traffic participants. When both the first and second filtering parameters include intensity filtering, the degree of light intensity attenuation corresponding to intensity filtering in the first filtering parameter is greater than the degree of light intensity attenuation corresponding to intensity filtering in the second filtering parameter.

[0022] In the above embodiment, the degree of light intensity attenuation corresponding to intensity filtering in the first filtering parameter is greater than the degree of light intensity attenuation corresponding to intensity filtering in the second filtering parameter. The light beam filtered by the first filtering parameter is projected onto the first object, and the light beam filtered by the second filtering parameter is projected onto the second object. This makes the light beam intensity projected by the projection device onto the first object less than the light beam projected by the projection device onto the second object. On the one hand, this can reduce the interference of the light beam projected by the projection device on other traffic participants, and on the other hand, it can still properly illuminate the road surface or objects other than other traffic participants on the road surface, so as to ensure driving safety.

[0023] Alternatively, the projection device can be mounted on the vehicle. For example, the projection device could be the vehicle's headlights.

[0024] Optionally, objects on the road surface other than other road users include: traffic signs, fences, green belts, or curbs, etc.

[0025] In another possible implementation, the first environmental information is used to determine a first region of the first environment and a third filtering parameter, the third filtering parameter belonging to the first filtering parameter set. The projection device projects a light beam into the first environment, comprising: the projection device projecting a light beam filtered by the third filtering parameter into the first region.

[0026] In the above embodiments, the first environmental information is used to determine a first region of the first environment and a third filtering parameter. For example, the first region is the area where oncoming vehicles are located, and the third filtering parameter is intensity filtering. The projection device projects a light beam filtered by the third filtering parameter onto the first region, which can reduce the light intensity of the light beam projected onto the first region, thereby reducing the interference of the emitted light beam of the projection device on oncoming vehicles.

[0027] Optionally, the first region is the area requiring special lighting based on the analysis of first environmental information. For example, polarization filtering and / or intensity filtering may be required for the beam projected onto the first region. The third filtering parameter is then used to ensure that the beam projected onto the first region is a beam of a specified type (including polarization state and / or beam intensity).

[0028] In another possible implementation, the first region is used to determine the second region of the light outlet of the projection device, and the light beam obtained by filtering with the third filtering parameter is the light beam emitted from the second region, and the light beam emitted from the second region is projected onto the first region.

[0029] In the above embodiment, the light beam emitted from the second region of the light outlet of the projection device is projected onto the first region of the first environment, and the light beam emitted from the second region of the projection device is a light beam filtered by the third filtering parameter.

[0030] Secondly, this application provides a projection device, including a first filtering unit array and a light-emitting unit. The first filtering unit array is used to filter the light beam provided by the light-emitting unit with a first filtering parameter set, and project the filtered light beam into a first environment. The environment in which the projection device is located is the first environment, and the first filtering parameter set is determined based on the first environment information corresponding to the first environment.

[0031] Optionally, the projection device further includes a processing unit, which is used to determine a first set of filtering parameters based on the first environment information corresponding to the first environment.

[0032] Optionally, the projection device further includes an acquisition unit for acquiring first environmental information.

[0033] In one possible implementation, the first filter unit array includes a first filter unit, and the first filter unit includes a first filter layer. The first filter unit is used to filter the beam with first filter parameters, which belong to a first filter parameter set. The first filter layer is used to filter the beam with second filter parameters, which include second filter parameters, and the second filter parameters include a second filtering method and a second filtering attribute corresponding to the second filtering method. The second filtering attribute is adjustable.

[0034] In the above embodiments, the first filtering unit includes a first filtering layer, which is used to filter the light beam with second filtering parameters. The second filtering parameters include a second filtering method and a second filtering attribute corresponding to the second filtering method. The second filtering attribute is adjustable, so that the first filtering unit can filter the light beam with different filtering attributes, and the projection device can project various different patterns.

[0035] In another possible implementation, the second filtering method is polarization filtering, and the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. Alternatively, the second filtering method is intensity filtering, and the second filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering. Here, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction, and intensity filtering is used to attenuate the light intensity of the beam.

[0036] In the above embodiments, the second filtering method is either polarization filtering or intensity filtering. When the second filtering method is polarization filtering, the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction, so that the first filtering unit can form polarized light in each polarization direction by performing polarization filtering on the beam. When the second filtering method is intensity filtering, the second filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering, so that the first filtering unit can perform intensity filtering on the beam and adjust the beam emitted by the projection device to a suitable beam intensity.

[0037] In another possible implementation, the first filtering unit further includes a second filtering layer for filtering the beam with third filtering parameters. The third filtering parameters include a third filtering mode and a corresponding third filtering attribute, and the third filtering attribute is adjustable. The second filtering mode differs from the third filtering mode, and / or the second filtering attribute differs from the third filtering attribute. The first filtering parameters include the third filtering parameters.

[0038] In the above embodiments, the first filtering unit includes not only a first filtering layer but also a second filtering layer. Furthermore, the filtering parameters used by the first and second filtering layers are different, including: the second filtering method is different from the third filtering method, and / or the second filtering attribute is different from the third filtering attribute. For example, the second filtering method is polarization filtering, and the third filtering method is intensity filtering. Another example is that both the second and third filtering methods are polarization filtering, but the polarization directions indicated by the second and third filtering attributes are different. Yet another example is that both the second and third filtering methods are intensity filtering, but the degree of light intensity attenuation indicated by the second and third filtering attributes is different. In short, the first and second filtering layers are used to implement different filtering functions, which enables the first filtering unit to achieve richer filtering functions to better adapt to the filtering needs of various scenarios, allowing the projection device to project various different patterns.

[0039] In another possible implementation, the third filtering method is polarization filtering, and the third filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. Alternatively, the third filtering method is intensity filtering, and the third filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering. In this case, polarization filtering attenuates the light intensity of the beam in the polarization direction, and intensity filtering attenuates the light intensity of the beam.

[0040] In the above embodiments, the third filtering method is either polarization filtering or intensity filtering. When the third filtering method is polarization filtering, the third filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction, so that the first filtering unit can be used to perform polarization filtering on the beam to form polarized light in a specified direction. When the third filtering method is intensity filtering, the third filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering, so that the first filtering unit can perform intensity filtering on the beam and adjust the beam emitted by the projection device to a suitable beam intensity.

[0041] In another possible implementation, the first filtering unit further includes a third filtering layer, which is used to filter the beam with fourth filtering parameters. The fourth filtering parameters include a fourth filtering method and a corresponding fourth filtering attribute, and the fourth filtering attribute is adjustable. The first filtering parameters also include the fourth filtering parameters. Both the second and fourth filtering methods are polarization filtering, but the polarization direction corresponding to the second filtering method is different from that corresponding to the fourth filtering method. The third filtering method is intensity filtering. Specifically, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction corresponding to the polarization filtering, and intensity filtering is used to attenuate the light intensity of the beam.

[0042] In the above embodiments, the first filtering unit includes a first filtering layer, a second filtering layer, and a third filtering layer. Both the second and fourth filtering methods are polarization filtering, but the polarization directions corresponding to the second and fourth filtering methods are different. The third filtering method is intensity filtering. This allows the first filtering unit to simultaneously perform polarization filtering and intensity filtering, enabling the beam of light projected by the projection device onto the first environment to form a specified pattern.

[0043] In another possible implementation, both the second and fourth filtering methods are polarization filters, and the polarization direction corresponding to the second filtering method is orthogonal to the polarization direction corresponding to the fourth filtering method.

[0044] In the above embodiments, it is understood that any light beam can be divided into mutually orthogonal polarized light. Therefore, the polarization direction corresponding to the second filtering method is orthogonal to the polarization direction corresponding to the fourth filtering method, so that the first filtering unit can filter the light beam to form polarized light in various directions, thereby allowing the emitted light beam of the projection device to be polarized light in any direction.

[0045] It is understood that the first filtering unit mentioned above belongs to the first filtering unit array, and each filtering unit in the first filtering unit array has the function of the first filtering unit mentioned above.

[0046] In another possible implementation, the first filter unit array includes one or more of the following: guest-host effect liquid crystal (GHLC), metasurface, suspended particle device (SPD), polymer dispersed liquid crystal (PDLC), polymer network liquid crystal (PNLC), photochromic device, or electrochromic device.

[0047] Thirdly, this application provides a vehicle headlight that includes the projection device described in any of the second aspects.

[0048] Fourthly, this application provides a terminal that includes the projection device described in any of the second aspects, or the vehicle headlights described in any of the third aspects. Optionally, the terminal includes intelligent terminals or vehicles such as vehicles, robots, drones, or ships.

[0049] Fifthly, this application provides a computer-readable storage medium storing a computer program or instructions that, when executed by a computer, implement the method as described in any of the first aspects.

[0050] Sixthly, this application provides a computer program product including instructions, wherein the computer program product includes computer program code, which, when run on a computer, implements the method as described in any of the first aspects.

[0051] In a seventh aspect, embodiments of this application provide a chip including a processor configured to execute instructions, which, when executed, cause the chip to perform the methods described in the first aspect and any of the possible implementations. Optionally, the chip further includes a communication interface configured to receive or transmit signals.

[0052] Optionally, in the process of performing the method described in any of the first aspects and any possible embodiments above, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0053] The solutions provided in the second to seventh aspects above are used to implement or cooperate with the methods provided in the first aspect above, and therefore can achieve the same or corresponding beneficial effects as the methods in the first aspect, which will not be elaborated here. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figures 1A and 1B are schematic diagrams of a projection scene provided in this application;

[0056] Figure 2 is a functional block diagram of an embodiment of the vehicle provided in this application;

[0057] Figures 3A to 3F are schematic diagrams of the structure of a projection device provided in this application;

[0058] Figure 4 is a schematic flowchart of a projection method provided in this application;

[0059] Figure 5 is a schematic diagram showing the correspondence between a first filter unit array and a first filter parameter set provided in this application;

[0060] Figure 6 is a schematic diagram of another projection scenario provided in this application;

[0061] Figures 7A and 7B are schematic diagrams of a first environment provided in this application;

[0062] Figure 8 is a schematic diagram of a pre-calibration method provided in this application;

[0063] Figure 9 is a schematic diagram of a target filtering unit provided in this application;

[0064] Figures 10A and 10B are schematic diagrams of another projection scene provided in this application;

[0065] Figure 11 is a schematic diagram of the region division of a first filter unit array provided in this application;

[0066] Figures 12A and 12B are schematic diagrams of another projection scene provided in this application;

[0067] Figures 13A to 13C are schematic diagrams of a filtering unit provided in this application;

[0068] Figure 14 is a schematic diagram of a dichroic dye provided in this application;

[0069] Figures 15A and 15B are schematic diagrams of another filtering unit provided in this application;

[0070] Figures 16A and 16B are schematic diagrams of another filtering unit provided in this application;

[0071] Figures 17A and 17B are schematic diagrams of another filtering unit provided in this application;

[0072] Figures 18A and 18B are schematic diagrams of another filtering unit provided in this application;

[0073] Figure 19 is a schematic diagram of the arrangement of dichroic dyes in Figure 18A or Figure 18B;

[0074] Figures 20A and 20B are schematic diagrams of another filtering unit provided in this application;

[0075] Figures 21A and 21B are schematic diagrams of another filtering unit provided in this application;

[0076] Figures 22A and 22B are schematic diagrams of another filtering unit provided in this application;

[0077] Figures 23A and 23B are schematic diagrams of another filtering unit provided in this application;

[0078] Figure 24 is a schematic diagram of another application scenario provided by this application;

[0079] Figure 25A is a schematic diagram of a system structure provided in this application;

[0080] Figure 25B is a schematic diagram of another system structure provided in this application;

[0081] Figure 26 is a flowchart illustrating another projection method provided in this application;

[0082] Figures 27A to 27C are schematic diagrams of another projection scenario provided in this application. Detailed Implementation

[0083] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0084] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0085] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0086] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0087] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and are not intended to limit the scope of protection claimed in this application.

[0088] 1. Guest-host effect.

[0089] The guest-host effect refers to the phenomenon where dichroic dyes, which absorb visible light differently along their long and short axes, are dissolved in a liquid crystal substrate. The dichroic dyes align with the liquid crystal molecules. When the alignment of the liquid crystal molecules changes under the influence of an electric field, the alignment direction of the dye molecules and their absorption of incident light also change, thus achieving functions such as optical switching or optical filtering.

[0090] 2. Dichroic dyes.

[0091] Dichroic dyes are dyes with special optical properties. The absorption coefficient of these dye molecules depends on the polarization state of the incident light. Generally, the absorption of the incident light by the crystal varies depending on the polarization direction of the incident light.

[0092] Dichroic dye molecules are generally ellipsoidal in shape, possessing a major axis and a minor axis. Based on the absorption coefficients of the major and minor axes for polarized light, dichroic dyes can be classified into positive dichroic and negative dichroic dye molecules. For positive dichroic dye molecules, the component of polarized light parallel to the major axis is absorbed, while the component perpendicular to the major axis is not absorbed. For negative dichroic dye molecules, polarized light parallel to the major axis is not absorbed, while the component perpendicular to the major axis is absorbed.

[0093] 3. Liquid crystal material.

[0094] Liquid crystal materials have unique properties that lie between liquids and crystals. Liquid crystal materials usually have a certain long axis and short axis, and their arrangement can be changed under the influence of external electric fields, magnetic fields or temperature.

[0095] 4. Metasurfaces.

[0096] A metasurface is an artificial layered material with a thickness less than the wavelength. It is a planar array of subwavelength meta-atoms, the geometry and spatial arrangement of which can be precisely designed according to the target phase distribution. Metasurfaces can be used in optical fields such as optical imaging, fiber optic communication, and spectral analysis to achieve functions that are difficult to implement with traditional filters, such as polarization filtering, ultra-narrowband filtering, or tunable filtering.

[0097] 5. Polarization filtering.

[0098] Polarization filtering refers to the use of filtering devices to filter out or attenuate light with a specific polarization direction, thereby achieving the selection and processing of light. Polarization filtering has wide applications in fields such as photography and machine vision.

[0099] 6. Intensity filtering.

[0100] Intensity filtering refers to using a filtering device to allow light within a specific intensity range to pass through or to adjust the intensity of light to a certain extent in order to achieve a specific effect or meet a specific need.

[0101] The explanations of the above terms can be applied in the following text.

[0102] With technological advancements, vehicle headlights play a crucial role in vehicle operation, significantly enhancing driving safety and experience. For example, they can automatically adjust the beam angle, range, and brightness to provide optimal illumination. As shown in Figure 1A, when a vehicle approaches an intersection, the headlights illuminate the area where the vehicle is about to proceed, preventing the driver from entering the wrong intersection. Another example is the automatic switching between high and low beams to avoid dazzling oncoming drivers. As shown in Figure 1B, when vehicles meet, to prevent glare from the high beams, headlights can illuminate only the area outside the oncoming vehicle. However, current technologies typically employ digital micromirror arrays based on digital light processing technology to achieve individual area lighting control. This technology is expensive and has complex control logic, hindering its widespread adoption.

[0103] In view of this, this application provides a projection method, projection device and related products, relating to the field of autonomous driving. By independently controlling the filtering of multiple areas on the filtering unit, functions such as regional filtering or different filtering methods for different areas can be realized, so that the beam projected by the projection device presents a preset brightness, pattern and illumination range, in order to assist the driver to participate in traffic better, thereby improving driving safety and driving experience.

[0104] Exemplarily, the projection device provided in this application can be applied to a vehicle. The following is an exemplary description of a vehicle to which the projection device is applied, as shown in Figure 2, which is a functional block diagram of an embodiment of the vehicle provided in this application. It should be noted that the vehicle 200 can be set to a fully intelligent driving mode or a partially intelligent driving mode. Understandably, when the vehicle 200 is set to a fully intelligent driving mode, the vehicle 200 can perform corresponding operations without human interaction, including but not limited to acceleration, deceleration, and following. When the vehicle 200 is set to a partially intelligent driving mode, the vehicle 200 can not only automatically perform corresponding operations, but also be operated by the driver. For example, determining the vehicle and its surrounding environment, determining the possible behaviors of at least one other vehicle in the surrounding environment, determining the confidence level corresponding to the probability of the other vehicle performing the possible behavior, and then controlling the vehicle 200 based on the determined information.

[0105] The vehicle 200 may include one or more of the following: an advanced driving assistance system (ADAS) 210, a sensing system 220, a processor 230, a memory 240, and a projection device 250.

[0106] ADAS210 is used in vehicle 200 to sense the surrounding environment, collect data, identify, detect and track static and dynamic objects during driving, and combine it with navigation map data to perform system calculations and analysis, thereby allowing the driver to be aware of potential dangers in advance, thus increasing the comfort and safety of driving. For example, ADAS210 can control the vehicle through data acquired by sensor system 220.

[0107] Sensing system 220 may include several sensors for sensing information about the environment surrounding vehicle 200. For example, sensing system 220 may include radar, a laser rangefinder, and a camera. Radar may use radio signals to sense the environment surrounding vehicle 200, including but not limited to surrounding vehicles, infrastructure, and pedestrians. In some embodiments, radar may be used to sense the speed and / or direction of travel of objects in addition to sensing objects. This application does not limit the specific type of radar; for example, radar may be millimeter-wave radar or lidar. A laser rangefinder may use laser light to sense objects in the environment in which vehicle 200 is located. In some embodiments, a laser rangefinder may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. A camera may be used to capture multiple images of the environment surrounding vehicle 200. The camera may be a still camera, a video camera, a monocular / binocular camera, or an infrared imager.

[0108] Vehicle 200 may include at least one processor 230, which executes instructions stored in a non-transitory computer-readable medium such as memory 240. This embodiment does not limit the type of processor 230; for example, the processor 230 may be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system-on-chips (SoCs), central processing units (CPUs), network processors (NPs), digital signal processors (DSPs), microcontroller units (MCUs), programmable logic devices (PLDs), or other integrated chips, or any combination of the above chips or processors. The processor 230 may be located inside the vehicle, or it may be located remotely from the vehicle and wirelessly communicate with it.

[0109] The memory 240 may contain instructions (e.g., program logic) that can be executed by the processor 230 to perform various functions of the vehicle 200. In addition to instructions, the memory 240 may also store data such as environmental information, map data, and other vehicle data.

[0110] The vehicle 200 also includes a projection device 250, which can project a specified pattern into the environment surrounding the vehicle, and can also project a specified pattern onto an object in the environment surrounding the vehicle.

[0111] Optionally, the processor 230 can be used to control the projection device 250 to project a specified pattern, or the processing unit built into the projection device 250 can be used to control the projection device 250 to project a specified pattern; this application does not limit this. The projection device 250 shown in this embodiment can be applied not only to vehicles, but also to driving vehicles such as ships, airplanes, and helicopters.

[0112] It should be noted that the above modules and their components may be added, replaced, or deleted as needed, and this application does not impose any restrictions on this. The vehicle 200 mentioned above can be a car, truck, motorcycle, bus, ship, recreational vehicle, amusement park vehicle, construction equipment, tram, train, etc., and the embodiments of this application do not limit this.

[0113] It is understood that the structural schematic diagram of vehicle 200 shown in Figure 2 is only an exemplary implementation of the present application, and the vehicle in the present application includes, but is not limited to, the above structure.

[0114] The projection device 250 will be described in detail with reference to Figures 3A to 3F.

[0115] As shown in Figure 3A, the projection device 250 includes a light-emitting unit 251 and a first filtering unit array 252. The light-emitting unit 251 provides an illumination beam. For example, the light-emitting unit includes one or more of the following: a halogen bulb, a high-intensity discharge lamp (HID), a light-emitting diode (LED), or a laser headlight. The first filtering unit array 252 filters the beam. The first filtering unit array 252 includes multiple filtering units, each of which can be independently controlled. In other words, multiple filtering units can be controlled to filter the beam with different filtering parameters. For example, the filtering units can perform polarization filtering and / or intensity filtering.

[0116] Optionally, the projection device 250 may further include a processing unit 253, as shown in FIG3B. The processing unit 253 is used, on the one hand, to control the filtering mode of the first filtering unit array 252, and on the other hand, to acquire and / or process some information, and control the first filtering unit array 252 to filter the light beam with a first set of filtering parameters. For example, the processing unit 253 is also used to acquire first environmental information corresponding to the first environment in which the projection device 250 is located, and to control the first filtering unit array 252 to filter the light beam with the first set of filtering parameters by processing the first environmental information. Therefore, in some implementations, the processing unit 253 can also be considered to consist of a processing unit, a control unit, and an acquisition unit. Optionally, the processing unit 253 may be the processor 230 shown in FIG2 above.

[0117] Optionally, the unit used to acquire the first environmental information may be some or all of the units in the sensing system 220 shown in FIG2.

[0118] As shown in Figures 3C and 3D, the projection device 250 also includes a shaping unit 254, which functions to shape the beam, improve illumination efficiency, and reduce stray light. Both the shaping unit 254 and the first filtering unit array 252 are located on the side where the light beam is emitted by the light-emitting unit 251. This application does not limit the relative position of the shaping unit 254 and the first filtering unit array 252. For example, the first filtering unit array 252 may be located between the light-emitting unit 251 and the shaping unit 254, as shown in Figure 3C; or, the shaping unit 254 may be located between the light-emitting unit 251 and the first filtering unit array 252, as shown in Figure 3D.

[0119] Optionally, the projection device 250 may also include a light-emitting unit 251, a first filter unit array 252, a processing unit 253, and a shaping unit 254, as shown in Figures 3E and 3F. To reduce descriptive redundancy, the descriptions of each unit / array in Figures 3E and 3F can be found in the descriptions of Figures 3A to 3D above.

[0120] Please refer to Figure 4, which is a schematic flowchart of a projection method provided in this application. The projection method shown in Figure 4 may include one or more steps S401 to S402. For example, some solutions may only include step S401 or step S402. It should be understood that, for ease of description, the description is based on the order of steps S401 to S402, and is not intended to limit the execution to this order. This application does not limit the order of execution, execution time, or number of executions of the above one or more steps. Steps S401 to S402 are as follows:

[0121] S401, The projection device determines the first set of filtering parameters.

[0122] The projection device is, for example, the projection device 250 shown in any of Figures 3A to 3F above, and will not be described in detail here. For example, the projection device 250 includes a light-emitting unit 251 and a first filter unit array 252.

[0123] The projection device can be a standalone device or a device integrated into other equipment. When the projection device is a standalone device, in addition to the light-emitting unit 251 and the first filter unit array 252, it may also include a sensing unit and a processing unit 253. The sensing unit is used to sense environmental information around the projection device. When the projection device is integrated into other equipment (e.g., a vehicle), the other equipment may include the sensing unit and the processing unit 253.

[0124] As can be seen from the above description, this application does not limit the location of the sensing unit and the processing unit 253. However, the sensing unit and the processing unit 253 have the same function in this application. Next, taking the case where the projection device 250 is installed in a vehicle as an example, the projection method provided by this application will be described exemplarily. The vehicle is, for example, the vehicle 200 described above, the sensing unit is, for example, ADAS 210, and / or, the sensing system 220, and the processing unit 253 is, for example, the processor 230. The processing unit 253 can also be a processor added to the vehicle 200, which is not limited in this application.

[0125] The environment in which the projection device 250 is located is called the first environment, and the information corresponding to the first environment is called the first environment information.

[0126] The first environmental information may include environmental information directly perceived by the sensing unit, such as information acquired through the vehicle's ADAS 210 or sensing system 220. For example, the first environmental information may include brightness information, position information, size information, or classification information of an object. Brightness information may include one or more brightness information points, which is not limited in this application. For example, if the object is a pedestrian in sunlight, different parts of the pedestrian may have different brightness information, including: brightness information of hair, brightness information of the face, and brightness information of the body. Position information refers to the spatial location of the object. For example, the object's position information can be represented by a geodetic coordinate system, a vehicle coordinate system, or the field of view of the sensing unit; this application is not limited in this regard. Size information includes information such as the size and shape of the object. Classification information includes any one or more of the following: road surface, road markings, animals, vehicles, or pedestrians. For example, one or more objects in the first environmental information can be identified using image recognition technology, and the identified objects can be classified. Optionally, target objects can be set as the objects to be identified, for example, pedestrians, vehicles and road markings can be set as the objects to be identified.

[0127] Optionally, the first environment can be divided into different regions based on one or more of the following: object brightness information, location information, size information, or classification information. For example, the first environment can be divided into different regions based on object classification information. For instance, if the objects in the first environment include pedestrians and vehicles, the area where pedestrians are located can be defined as one region, and the area where vehicles are located can be defined as another region. Alternatively, the first environment can be divided into different regions based on object brightness information. For example, the brightness information in the first environment can be 0-50 cd / m². 2 The area where the object is located is defined as a region, and the brightness information in the first environment is set to 50-150 cd / m². 2The area where the object is located is defined as another area.

[0128] The first environmental information may also include environmental information that cannot be directly perceived by the sensing unit, such as information obtained through a vehicle-to-everything (V2X) system. For example, the vehicle status of the object (e.g., driving status, engine status, or braking status).

[0129] Of course, the aforementioned first environmental information can also be information obtained by the sensing unit / processing unit 253 through processing, fusion, or reasoning. For example, the sensing unit / processing unit 253 may obtain velocity information based on the position information of the object at multiple time points. As another example, the aforementioned first environmental information can also be information obtained through processing by a computer vision system.

[0130] In one possible implementation, the processing unit 253 determines the first set of filtering parameters based on the first environmental information.

[0131] The processing unit 253 and the first environmental information can be referred to the above description, and will not be repeated here. The first filter parameter set includes multiple filter parameters. The filter parameters in the first filter parameter set correspond to one or more filter units in the first filter unit array 252, so that the filter units in the first filter unit array 252 filter the beam with the filter parameters corresponding to the first filter parameter set. As shown in Figure 5(a), the first filter unit array 252 includes 25 filter units. As shown in Figure 5(b), the first filter parameter set includes 25 filter parameter sets. For example, the filter units in the first filter unit array 252 are used to filter the beam with the filter parameters with the same number in the first filter parameter set. For example, the filter unit numbered 1 in the first filter unit array 252 is used to filter with filter parameter 1, and as another example, the filter unit numbered 2 in the first filter unit array 252 is used to filter with filter parameter 2. Of course, in some implementations, one filter parameter can correspond to multiple filter units. For specific implementations, please refer to the description in Figure 5 above, and will not be repeated here.

[0132] Optionally, the filtering parameters in the first set of filtering parameters include a filtering method and a corresponding filtering attribute, wherein the filtering method includes polarization filtering and / or intensity filtering. When the filtering method includes polarization filtering, the corresponding filtering attribute includes the polarization direction of the polarization filtering and the degree of light intensity attenuation in that polarization direction. When the filtering method includes intensity filtering, the corresponding filtering attribute includes the degree of light intensity attenuation by the intensity filtering. For example, the first filtering parameters may include a first filtering method and a corresponding filtering attribute, wherein the first filtering method includes polarization filtering and / or intensity filtering. The filtering attribute corresponding to the first filtering method can be referred to the above description of "filtering attributes corresponding to the filtering method," and will not be repeated here.

[0133] For example, the processing unit 253 determines the first set of filtering parameters based on the first environmental information, including the following steps:

[0134] Step 1: Processing unit 253 determines the first region of the first environment based on the first environmental information.

[0135] The first area of ​​the first environment can be an area that needs to be lit, or the first area of ​​the first environment can be an area that does not need to be lit.

[0136] Optionally, the processing unit 253 can determine the second region based on the first region. For example, if the first region is an area that needs lighting, the second region is an area that does not need lighting. Or, for example, if the first region is an area that does not need lighting, the second region is an area that needs lighting. For ease of understanding, the following example uses the first region as an example of an area that needs lighting.

[0137] Optionally, the processing unit 253 can also directly determine the first region and the second region of the first environment based on the first environmental information, wherein the first region is the region that needs to be lit and the second region is the region that does not need to be lit.

[0138] Regarding how the processing unit 253 determines the areas in the first environment that require lighting, or the areas in the first environment that do not require lighting, based on the first environmental information, this application does not limit the scope of the application. For example, the processing unit 253 can identify various objects in the first environmental information, such as pedestrians, vehicles, obstacles, curbs, or road markings. The processing unit 253 can determine whether an object requires lighting. For example, it can determine whether lighting is needed for obstacles, curbs, or road markings, but not for pedestrians or vehicles, to avoid interfering with the vision of pedestrians or drivers. Furthermore, the processing unit 253 can also combine other information to determine whether an object requires lighting. For example, the processing unit 253 can combine navigation information to identify the waiting section of the vehicle as the object requiring lighting, thereby guiding the driver to drive efficiently. As shown in Figure 6, the off-ramp is the waiting section of the vehicle, and the processing unit 253 can identify the waiting section of the vehicle as the object requiring lighting.

[0139] It should be noted that the first or second area mentioned above is within the projection capability of the projection device 250.

[0140] Please refer to Figure 7A, which is a schematic diagram of a first environment provided by this application. As shown in Figure 7A, the first environment is a nighttime driving scene with a car driving in the oncoming lane. The sensing unit senses the first environment and generates first environment information. The processing unit 253 can determine the areas in the first environment shown in Figure 7A that need lighting (the first area shown in Figure 7B) and the areas that do not need lighting (the second area shown in Figure 7B) through the first environment information. It can be understood that the highlighted area in Figure 7B is the first area, and the grayscale area in Figure 7B is the second area.

[0141] Step 2: Processing unit 253 determines the first set of filtering parameters based on the first region of the first environment described above.

[0142] It should be noted that the projection area of ​​the projection device, the sensing field of view of the sensing unit, and the first filtering unit array 252 are pre-calibrated.

[0143] Please refer to Figure 8, which is a schematic diagram of a pre-calibration provided in this application. As shown in Figure 8, the projection area of ​​the projection device and the sensing field of view of the sensing unit can both be divided into multiple regions, and each region corresponds to a region in the first filter unit array 252. For example, the object in region 1 of the projection area is perceived through region 1 in the sensing field of view, and the light beam emitted from region 1 in the first filter unit array 252 will be projected onto region 1 of the projection area. Optionally, the size of each region in Figure 8 is not limited in this application. For example, each region in Figure 8 is pixel-level in size.

[0144] Processing unit 253 can determine the target filtering units of the first filtering unit array 252 based on the first region of the perceived field of view and the calibration relationship between the perceived field of view and the first filtering unit array 252. It is understood that the perceived field of view corresponds to the first environment. As shown in Figure 9, the region filled with slashes in the perceived field of view is used to perceive the first region of the first environment. The first region corresponds to regions numbered 2, 3, 4, 9, 12, 13, 14, 17, 22, 23, and 24 in the perceived field of view. Combining the calibration relationship between the perceived field of view and the first filtering unit array 252, the target filtering units can be determined to include the filtering units numbered 2, 3, 4, 9, 12, 13, 14, 17, 22, 23, and 24 in the first filtering unit array 252, as shown in Figure 9, the filtering units filled with slashes in the first filtering unit array 252.

[0145] Furthermore, the processing unit 253 can determine a first set of filtering parameters based on the aforementioned target filtering unit. For example, the processing unit 253 can determine that the filtering parameters corresponding to the target filtering unit in the first set of filtering parameters are natural filtering (i.e., no filtering required), so that the projection device 250 can project a light beam onto the first area of ​​the first environment. Correspondingly, the processing unit 253 can determine that the remaining filtering parameters in the first set of filtering parameters are intensity filtering, so that the light beam projected by the projection device 250 onto the first environment will not illuminate the second area of ​​the first environment.

[0146] The above "Step One" and "Step Two," using a first environment including a first region and a second region as an example, illustrate the process of determining the first set of filtering parameters based on the first environment information. However, in a specific implementation, the first region may include one or more sub-regions, each of which may require different illumination levels and have different beam polarization directions. Therefore, the processing unit 253 can also determine the filtering parameters corresponding to each filtering unit in the target filtering unit based on the target filtering unit and the first environment information. It should be noted that this application does not limit how the filtering parameters corresponding to each filtering unit in the target filtering unit are determined based on the first environment information.

[0147] For example, processing unit 253 can determine the current projection scene by analyzing the first environmental information, thereby determining the filtering parameters corresponding to each filtering unit in the target filtering unit. For instance, when processing unit 253 obtains the night scene information shown in FIG10A, it can determine that a road marking line needs to be projected in front of the vehicle to remind the driver and cyclist to drive carefully, as shown in FIG10B.

[0148] For example, processing unit 253 analyzes the first environmental information to determine that a target object exists in the first environment, thereby determining parameters such as the light intensity and polarization state of the light beam projected onto the area where the target object is located, and then determining the filtering parameters corresponding to each filtering unit in the target filtering unit. For example, processing unit 253 analyzes the first environmental information to determine that oncoming vehicles are included in the first environment, thereby determining that the polarization state of the light beam projected onto the area where the oncoming vehicles are located is horizontally polarized, and then determining the filtering parameters corresponding to each filtering unit in the target filtering unit.

[0149] For example, taking Figure 9 as an example, the processing unit 253 can determine the filtering parameters corresponding to regions 2, 3, 4, 9, 12, 13 and 14 of the first filtering unit array 252 in Figure 9 as "polarization filtering, the polarization direction is horizontal, and the degree of light intensity attenuation by polarization filtering is 30%" based on the above target area and the first environmental information, and determine the filtering parameters corresponding to regions 17, 22, 23 and 24 of the first filtering unit array 252 as "intensity filtering, and the degree of light intensity attenuation by intensity filtering is 50%".

[0150] It is understandable that by setting different filtering parameters for each sub-region of the target area of ​​the first filtering unit array 252, rich projection effects can be achieved and various possible projection patterns can be presented.

[0151] S402, The projection device projects a light beam into the first environment.

[0152] For example, the light-emitting unit 251 in the projection device 250 provides an illumination beam, and the first filter unit array 252 in the detection device filters the illumination beam provided by the light-emitting unit 251 with a first filter parameter set, so that the beam projected by the projection device 250 into the first environment illuminates a first area of ​​the first environment.

[0153] Optionally, the light beam projected by the projection device into the first environment may include light beams of different brightness and light beams of different polarization states.

[0154] To better understand how the projection device 250 projects a light beam into the first environment, please refer to Figure 11. The first filter unit array 252 shown in Figure 11 includes 10 regions, numbered sequentially from 1 to 10. In one possible implementation, each region in the first filter unit array 252 can be configured with different filtering parameters to filter the light beam.

[0155] In one possible design, a region of the first filter unit array 252 may include one or more filter units.

[0156] In another possible design, the division of regions in the first filter unit array 252 is not limited in this application. For example, the region division can be regular, as shown in Figure 11. Furthermore, the boundaries of the divided regions can be irregular, such as serrated or arc-shaped boundaries. For yet another example, a region can be composed of two non-adjacent sub-regions, as shown in Figure 11, region 1 and region 5 can be collectively referred to as one region. It should also be noted that the positional relationship between the first filter unit array 252 and the light-emitting unit 251 shown in Figure 11 is exemplary. For example, other optical elements, such as a shaping unit 254, may also be included between the first filter unit array 252 and the light-emitting unit 251.

[0157] The projection method shown in Figure 4 above illustrates how to determine a first set of filtering parameters based on first environmental information and control the first filtering unit array 252 to filter the illumination beam provided by the light-emitting unit 251, so that the projection device 250 projects the illumination beam only onto a first area of ​​the first environment. Furthermore, by setting different filtering parameters for each sub-region of the target area of ​​the first filtering unit array 252, richer projection effects can be achieved, and various possible projection patterns can be presented. In addition, the projection method provided in this application, by controlling the first filtering unit array 252 to filter the beam with the first set of filtering parameters, enables the projection device 250 to project various patterns into the first environment. The projection method is convenient and simple, and also facilitates the simplification and low-cost design of the projection device 250.

[0158] The projection method shown in Figure 4 above provides an example of how to determine the first set of filter parameters. Next, we will introduce several possible implementation methods of the filter parameters in the first set of filter parameters.

[0159] Method 1: The filtering method of the first set of filtering parameters is polarization filtering, with the polarization direction being the vertical direction and / or the horizontal direction.

[0160] When the polarization direction is vertical, the first filter unit array 252 filters out vertically polarized light, resulting in a beam of light projected from the projection device onto the first environment being horizontally polarized light. When the polarization direction is horizontal, the first filter unit array 252 filters out horizontally polarized light, resulting in a beam of light projected from the projection device onto the first environment being vertically polarized light. When the polarization direction is both vertical and horizontal, the first filter unit array 252 exhibits intensity filtering.

[0161] Optionally, the polarization mode of the polarization filter in the first filtering parameter set can be any direction, such as a direction with an angle of 45°, 30° or 15° with the horizontal plane.

[0162] Optionally, the degree of light intensity attenuation by polarization filtering can be any value, such as 0%, 10%, 20%, or 30%.

[0163] As can be seen, the above-mentioned "method one" allows the projection device 250 to project polarized light in any direction, and the intensity of the light beam is adjustable.

[0164] Method 2: The first set of filtering parameters includes a first filtering parameter and a second filtering parameter. The beam emitted by the projection device 250 includes a beam filtered by the first filtering parameter and a beam filtered by the second filtering parameter. The first filtering parameter is different from the second filtering parameter.

[0165] The first filtering parameter includes the first filtering method and the corresponding filtering attributes, while the second filtering parameter includes the second filtering method and the corresponding filtering attributes. For a description of the first filtering method, the second filtering method, and the filtering attributes, please refer to the descriptions of the filtering methods and filtering attributes above; they will not be repeated here.

[0166] The first filtering parameter differs from the second filtering parameter in several ways, including: the first filtering method differs from the second filtering method, and / or the first filtering attribute differs from the second filtering attribute. For example, the first filtering method is polarization filtering, and the second filtering method is intensity filtering. Another example is that both the first and second filtering methods are polarization filtering, but the polarization directions indicated by the first and second filtering attributes are different. Yet another example is that both the first and second filtering methods are intensity filtering, but the degree of light intensity attenuation indicated by the first and second filtering attributes is different.

[0167] Understandably, the first filtering parameters differ from the second filtering parameters, allowing the projection device 250 to project different types of light beams from different positions, thereby forming various patterns. The first filtering parameter set is determined based on first environmental information, enabling the projection device 250 to project patterns adapted to the first environment.

[0168] Optionally, both the first and second filtering parameters include intensity filtering, but the degree of light intensity attenuation corresponding to intensity filtering in the first and second filtering parameters differs. It is understood that the difference in the degree of light intensity attenuation between the first and second filtering parameters allows the projection device 250 to project light spots of varying brightness into different areas of the first environment, thereby forming various patterns.

[0169] For example, the light attenuation corresponding to the intensity filtering in the first filtering parameter is greater than the light attenuation corresponding to the intensity filtering in the second filtering parameter. This greater light attenuation in the first filtering parameter compared to the second filtering parameter ensures that the light beam intensity obtained by filtering with the first parameter is less than that obtained by filtering with the second parameter. This reduces interference from the light to other road users and ensures that the light beam projected by the projection device 250 clearly illuminates the second object, such as the road surface, road markings, curbs, railings, green belts, or obstacles.

[0170] Optionally, the first environmental information includes relevant information about the first object and relevant information about the second object. A beam of light filtered by the first filtering parameters is projected onto the first object, and a beam of light filtered by the second filtering parameters is projected onto the second object. The relevant information about the first and second objects includes location information, size information, classification information, etc. For example, the relevant information about the first object includes information about its location, size, and classification. Classification information includes any one or more of road surfaces, road markings, animals, vehicles, or pedestrians. See Figure 12A. The driving scene shown in Figure 12A includes various objects such as pedestrians, vehicles, road surfaces, and road markings. Pedestrians and vehicles can be classified as first objects, and road surfaces and road markings can be classified as second objects. See Figure 12B. In Figure 12B, the first object is not illuminated, which means that the beam of light originally projected onto the first object has undergone intensity filtering; that is, the first filtering parameters include intensity filtering, and the intensity filtering attenuates the beam by 100%. In Figure 12B, the second object is illuminated, for example, by polarization filtering, so that the beam of light filtered by the second filtering parameters can illuminate the second object. Of course, Figures 12A and 12B above are illustrative of the relationship between the first filter parameter, the second filter parameter, the first object, and the second object, and should not be construed as limiting the solution provided in this application.

[0171] Understandably, by using different filtering parameters, the projection device 250 can project different light beams onto different objects, achieving the effect of projecting a suitable light beam onto a specified object. This enhances the practicality of the projection device 250 and facilitates better vehicle participation in traffic. Furthermore, adjusting the filtering parameters to regulate the projected light beam helps save costs and simplifies spatial logic.

[0172] Optionally, the first object mentioned above includes other traffic participants, and the second object mentioned above includes the road surface or objects on the road surface other than other traffic participants. Other traffic participants include pedestrians, vehicles, or cyclists, etc., and objects on the road surface other than other traffic participants include road markings, curbs, guardrails, green belts, or obstacles, etc.

[0173] In one possible implementation, the aforementioned first environmental information is used to determine a third region and a third filtering parameter of the first environment. The third filtering parameter belongs to the aforementioned first filtering parameter set. The projection device 250 projects a light beam into the first environment, including: the projection device 250 projects a light beam filtered by the third filtering parameter into the third region. For details on how the first environment is used to determine the third region and the third filtering parameter, please refer to the relevant description in S401 above; it will not be repeated here. Similarly, for details on how the projection device 250 projects a light beam filtered by the third filtering parameter into the third region, please refer to the description in S402 above; it will not be repeated here.

[0174] In the above embodiments, the first environmental information is used to determine a first region of the first environment and a third filtering parameter. For example, the first region is the area where oncoming vehicles are located, and the third filtering parameter is intensity filtering. The projection device projects a light beam filtered by the third filtering parameter onto the first region, which can reduce the light intensity of the light beam projected onto the first region, thereby reducing the interference of the emitted light beam of the projection device on oncoming vehicles.

[0175] Optionally, the first region is the area requiring special lighting based on the analysis of first environmental information. For example, polarization filtering and / or intensity filtering may be required for the beam projected onto the first region. The third filtering parameter is then used to ensure that the beam projected onto the first region is a beam of a specified type (including polarization state and / or beam intensity).

[0176] Optionally, the aforementioned third region is used to determine the fourth region of the light-emitting port of the projection device 250. The light beam filtered by the third filtering parameters is the light beam emitted from the fourth region of the light-emitting port, and the light beam emitted from the fourth region of the light-emitting port is projected onto the third region of the first environment. Regarding how the third region is used to determine the fourth region of the light-emitting port of the projection device 250, please refer to the process of determining the target filtering unit in S401 above, which will not be repeated here. Correspondingly, the specific description of the light beam emitted from the fourth region of the light-emitting port being projected onto the third region of the first environment can also be referred to the pre-calibration schematic diagram shown in Figure 8 above. For example, the first environment and the first filtering unit array 252 are pre-calibrated, and the fourth region of the light-emitting port corresponds to the third region of the first environment. Therefore, the light beam emitted from the fourth region of the light-emitting port can be projected onto the third region of the first environment.

[0177] As described above, the projection method provided in this application places certain requirements on the functionality of the first filter unit array 252 in the projection device 250. For example, the first filter unit array 252 needs to be able to perform polarization filtering and / or intensity filtering, and the filtering attributes corresponding to the filtering methods are also adjustable. Therefore, this application provides several first filter unit arrays 252 as examples to implement various filtering functions required by the filtering unit in the above projection method. It is understood that the first filter unit array 252 includes multiple filtering units. The first filter unit array 252 will be described exemplarily below with reference to the accompanying drawings, taking a filtering unit as an example.

[0178] The following section, with reference to the accompanying drawings, provides an exemplary description of the filtering unit provided in this application for implementing polarization filtering.

[0179] Please refer to Figure 13A, which is a schematic diagram of a filtering unit provided in this application. The filtering unit shown in Figure 13A is a guest-host effect device, which consists of two transparent electrode layers, liquid crystal material, and dichroic dye. For a description of the liquid crystal material, please refer to the aforementioned description of "Liquid Crystal Material," which will not be repeated here. Similarly, for a description of the dichroic dye, please refer to the aforementioned description of "Dichroic Dye," which will not be repeated here.

[0180] For example, the rotation angle of the liquid crystal molecules can also be adjusted by controlling the voltage difference between the two electrode layers, along with the adjustment of the rotation angle of the dye molecules, as shown in Figures 13B and 13C. In Figure 13B, the angle between the liquid crystal material and the dichroic dye in the filter unit is rotated 30° clockwise compared to Figure 13A. In Figure 13C, the angle between the liquid crystal material and the dichroic dye in the filter unit is rotated 90° clockwise compared to Figure 13A. Typically, by adjusting the voltage difference between the two electrode layers, the rotation range of the liquid crystal material in the guest-host effect device can be controlled to [0, 90°].

[0181] In one possible implementation, the filtering degree of the filter unit on polarized light can be controlled by adjusting the voltage difference of the block electrode layer.

[0182] For example, the dichroic dye is a normal dichroic dye molecule, that is, the polarized light component parallel to the long axis is absorbed, while the polarized light component perpendicular to the long axis is not absorbed. The long axis and short axis of the dichroic dye can be referred to the description in Figure 14.

[0183] As shown in Figure 13A, the arrows indicate the direction of light beam propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules. Therefore, the filter unit shown in Figure 13A does not filter the passing light beam. By controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is adjusted as shown in Figure 13B. It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is approximately 30°, allowing the filter unit shown in Figure 13B to partially filter the passing perpendicularly polarized light beam. Furthermore, by controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is adjusted as shown in Figure 13C. It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is 90°. In this case, the filter unit shown in Figure 13B will fully filter the passing perpendicularly polarized light beam. It is understood that Figures 13A, 13B, and 13C can represent different states of the same filter unit. For example, the filter unit shown in Figure 13A represents the initial state. For example, the filter unit shown in Figure 13C is in its initial state.

[0184] For example, the dichroic dye is a negative dichroic dye molecule, that is, the polarized light component perpendicular to the long axis is absorbed, while the polarized light component parallel to the long axis is not absorbed. The long axis and short axis of the dichroic dye can be referred to the description in Figure 14.

[0185] As shown in Figure 13A, the arrows indicate the propagation direction of the light beam. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules. Therefore, the filter unit shown in Figure 13A will fully filter the perpendicularly polarized light beam. By controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is shown in Figure 13B. It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is approximately 30°, so the filter unit shown in Figure 13B will partially filter the perpendicularly polarized light beam. Furthermore, by controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is shown in Figure 13C. It can be seen that the light propagation direction is parallel to the long axis of the dichroic dye molecules. In this case, the filter unit shown in Figure 13B will not filter the passing light beam.

[0186] Based on the above description, it can be seen that the filter units shown in Figures 13A to 13C can filter vertically polarized light beams. If the filter unit is to filter light beams polarized in other directions, it is necessary to control the dichroic dye in the filter unit shown in Figure 13A to rotate around the light transmission direction. For example, if the filter unit is to filter horizontally polarized light beams, and the dichroic dye is a positive dichroic dye molecule, then it is necessary to control the dichroic dye in the filter unit shown in Figure 13C to rotate 90° around the light transmission direction.

[0187] For example, the dichroic dye is a normal dichroic dye molecule, that is, the polarized light component parallel to the long axis is absorbed, while the polarized light component perpendicular to the long axis is not absorbed. The long axis and short axis of the dichroic dye can be referred to the description in Figure 14.

[0188] Please refer to Figures 15A and 15B, where Figure 15A is a front view of the filter unit and Figure 15B is a top view of the filter unit. The arrows indicate the direction of light propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules in the filter unit. Therefore, the filter units shown in Figures 15A and 15B do not filter the passing light beam. By controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in Figures 16A (front view) and 16B (top view). It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is approximately 45°, causing the filter units shown in Figures 16A and 16B to partially filter the horizontally polarized light beam. Furthermore, by controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in Figures 17A (front view) and 17B (top view). It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is 90°. In this case, the filter unit shown in Figures 17A and 17B will fully filter the horizontally polarized light beam. It is understood that Figures 15A, 15B, 16A, 16B, 17A, and 17B can represent different states of the same filter unit. For example, the filter unit shown in Figures 15A and 15B is the initial state. As another example, the filter unit shown in Figures 17A and 17B is the initial state.

[0189] For example, the dichroic dye is a negative dichroic dye molecule, that is, the polarized light component perpendicular to the long axis is absorbed, while the polarized light component parallel to the long axis is not absorbed. The long axis and short axis of the dichroic dye can be referred to the description in Figure 14.

[0190] Please refer to Figures 15A and 15B, where Figure 15A is a front view of the filter unit and Figure 15B is a top view of the filter unit. The arrows indicate the direction of light propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules. Therefore, the filter units shown in Figures 15A and 15B will fully filter the horizontally polarized light beams. By controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in Figures 16A (front view) and 16B (top view). It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is approximately 45°, causing the filter units shown in Figures 16A and 16B to partially filter the horizontally polarized light beams. Furthermore, by controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in Figures 17A (front view) and 17B (top view). It can be seen that the light propagation direction is parallel to the long axis of the dichroic dye molecules. In this case, the filter units shown in Figures 17A and 17B will not filter the passing light beam. It is understood that Figures 15A, 15B, 16A, 16B, 17A, and 17B can represent different states of the same filter unit. For example, the filter unit shown in Figures 15A and 15B is the initial state. As another example, the filter unit shown in Figures 17A and 17B is the initial state.

[0191] The filtering units shown in Figures 13A to 13C can filter the vertically polarized beams shown in the figures. The filtering units shown in Figures 15A, 15B, 16A, 16B, 17A, and 17B can filter the horizontally polarized beams shown in the figures. By adjusting the angle at which the dyeing material is placed in the beam transmission direction, or by directly adjusting the angle at which the filtering unit is placed in the beam transmission direction, the filtering unit can achieve the effect of filtering light polarized in other directions. These will not be described in detail here.

[0192] The following section, with reference to the accompanying drawings, provides an exemplary description of the filtering unit provided in this application for implementing intensity filtering.

[0193] Please refer to Figures 18A and 18B, where Figure 18A is a front view of the filtering unit and Figure 18B is a top view of the filtering unit. As can be seen from Figures 18A and 18B, the filtering unit includes four layers of dichroic dyes. The orientation of the four layers of dichroic dyes along the direction of light transmission is shown in Figure 19. Considering that the dichroic dyes are positively dichroic dye molecules, it can be known that the filtering units shown in Figures 18A and 18B can simultaneously filter polarized light beams from multiple directions, thereby reducing the overall light intensity of the beam, i.e., achieving the effect of light intensity filtering. Considering that the dichroic dyes are negatively dichroic dye molecules, it can be known that the long axis of the dichroic dye molecules in the filtering units shown in Figures 18A and 18B is parallel to the polarized light in each direction. Therefore, the filtering units shown in Figures 18A and 18B do not filter the passing light beam.

[0194] Of course, the voltage difference between the two electrode layers can also be controlled to cause the dichroic dye molecules in the filter unit to rotate, thus conditionally adjusting the filtering intensity, as shown in Figures 20A and 20B. Figure 20A is a front view of the filter unit, and Figure 20B is a top view. Given that the dichroic dye molecules are positively dichroic, it can be known that the long axis of the dichroic dye molecules in the filter units shown in Figures 20A and 20B is perpendicular to the polarized light in all directions. Therefore, the filter units shown in Figures 20A and 20B do not filter the passing process. However, because the dichroic dye molecules are positively dichroic, the filter units in Figures 20A and 20B can simultaneously filter polarized beams in multiple directions, thereby reducing the overall light intensity of the beam, i.e., achieving the effect of light intensity filtering.

[0195] In Figures 18A, 18B, 20A, and 20B, the dichroic dye molecules are positively dichroic. In another possible implementation, the dichroic dye molecules in Figures 18A, 18B, 20A, and 20B can also be negatively dichroic. It is understood that in this case, the filtering units shown in Figures 20A and 20B do not filter the passing light beam. The long axis of the dichroic dye molecules in the filtering units shown in Figures 20A and 20B is parallel to the polarized light in each direction, enabling simultaneous filtering of polarized light beams in multiple directions, thereby reducing the overall light intensity of the beam, i.e., achieving the effect of light intensity filtering.

[0196] It should be noted that the dichroic dye molecules in Figures 18A, 18B, 20A, and 20B all include four layers. However, in specific implementations, this application does not limit the number of layers of dichroic dye molecules. For example, the filter unit may include five, six, or seven layers of dichroic dye molecules. It should also be noted that in Figures 18A, 18B, 20A, and 20B, the ellipses with vertical bars represent liquid crystal materials, and the ellipses with horizontal bars represent dichroic dyes.

[0197] The above content introduced the relevant information about the use of the filter unit to implement polarization filtering or intensity filtering. Next, with reference to the accompanying drawings, we will provide an exemplary introduction to the use of the filter unit to simultaneously implement polarization filtering and intensity filtering.

[0198] Please refer to Figures 21A and 21B, where Figure 21A is a front view of the filter unit and Figure 21B is a top view of the filter unit. As shown in Figures 21A and 21B, the filter unit comprises two layers, used for intensity filtering and polarization filtering respectively. For details on how intensity filtering and polarization filtering are implemented on both sides of the filter unit, please refer to the aforementioned descriptions; they will not be repeated here. Of course, in the filter units shown in Figures 21A and 21B, the degree of polarization filtering or intensity filtering can also be adjusted by applying a voltage to the transparent electrode layer; for details, please refer to the aforementioned descriptions; they will not be repeated here.

[0199] In one possible implementation, one filter layer in the filter unit shown in Figures 21A and 21B can be controlled to perform polarization filtering or intensity filtering. Alternatively, both filter layers in the filter unit shown in Figures 21A and 21B can be controlled simultaneously for polarization filtering and intensity filtering; this application does not limit this approach.

[0200] Please refer to Figures 22A and 22B, where Figure 22A is a front view of the filter unit and Figure 22B is a top view of the filter unit. As shown in Figures 22A and 22B, the filter unit consists of two layers, both used for polarization filtering. For details on how polarization filtering is implemented on both sides of the filter unit, please refer to the aforementioned descriptions; they will not be repeated here. Of course, the degree of polarization filtering in the filter unit shown in Figures 22A and 22B can also be adjusted by applying a voltage to the transparent electrode layer; for details, please refer to the aforementioned descriptions; they will not be repeated here.

[0201] In one possible implementation, any one of the filter layers in the filter units shown in Figures 22A and 22B can be controlled to perform polarization filtering, or both filter layers in the filter units shown in Figures 22A and 22B can be controlled to perform polarization filtering simultaneously; this application does not limit this. It is understood that when two filter layers in the filter unit are controlled to perform polarization filtering simultaneously, the filter units shown in Figures 22A and 22B can be used to achieve the effect of intensity filtering.

[0202] Please refer to Figures 23A and 23B, where Figure 23A is a front view of the filtering unit and Figure 23B is a top view of the filtering unit. As shown in Figures 23A and 23B, the filtering unit comprises three layers, used sequentially for polarization filtering, intensity filtering, and polarization filtering. For details on how intensity filtering and polarization filtering are implemented on both sides of the filtering unit, please refer to the aforementioned descriptions; they will not be repeated here. Of course, the degree of polarization filtering or intensity filtering in the filtering units shown in Figures 23A and 23B can also be adjusted by applying a voltage to the transparent electrode layer; details can be found in the aforementioned descriptions, which will not be repeated here. Optionally, the two filtering layers in Figures 23A and 23B used for polarization filtering are used to filter beams with different polarization directions. For example, they are used to filter beams in the horizontal and vertical directions, respectively. Optionally, the two filtering layers in Figures 23A and 23B used for polarization filtering are used to filter beams polarized in orthogonal directions. Of course, this application does not limit which direction of polarized light beams the two filter layers in Figures 23A and 23B are used to filter. It is understood that by setting two filter layers in the filter unit to filter polarized light in different directions, the filtering capability of the filter unit can be improved, thereby meeting a variety of filtering needs and enabling the projection device to adapt to various sensing scenarios, thus improving the sensing performance of the projection device in various scenarios.

[0203] Of course, when the filtering unit includes a polarization filter layer and an intensity filter layer, the order of the polarization filter layer and the intensity filter layer is not limited in this application. For example, when the filtering unit includes two polarization filter layers, the two polarization filter layers can be located on both sides of the intensity filter layer, as shown in Figures 23A and 23B. The two polarization filter layers can also be adjacent (not shown in the figures).

[0204] Figures 13A to 13C illustrate a filtering unit for polarization filtering. Figures 15A, 15B, 16A, 16B, 17A, and 17B illustrate another filtering unit for polarization filtering. Figures 18A, 18B, 20A, and 20B illustrate a filtering unit for intensity filtering. Figures 21A and 21B illustrate a filtering unit capable of simultaneously performing polarization and intensity filtering. Figures 22A and 22B illustrate a filtering unit comprising two polarization filtering layers, while Figures 23A and 23B illustrate a filtering unit comprising two polarization filtering layers and one intensity filtering layer. All of the filtering units shown above can be used in the projection method illustrated in Figure 4.

[0205] As described above, the various filtering units provided in this application can be in the form of thin films. Therefore, they can be embedded inside various lenses or attached to the surface of various lenses to perform various filtering functions. Please refer to Figure 24, which is a schematic diagram of another application scenario provided by this application. The scenario shown in Figure 24 includes a filtering unit and a light-emitting unit. The functions performed by the filtering unit and the light-emitting unit can be referred to the functions performed by the first filtering unit array 252 and the light-emitting unit 251 shown in Figure 4 above, and will not be repeated here. Optionally, the application scenario shown in Figure 24 may also include a processing unit. The functions performed by the processing unit can be referred to the functions performed by the processing unit 253 shown in Figure 4 above, and will not be repeated here. Obviously, in the scenario shown in Figure 24, the filtering unit can filter the light beam with different filtering parameters, so that the vehicle can project various patterns in the first environment, thereby ensuring that the vehicle participates in traffic better.

[0206] Please refer to Figure 25A, which is a schematic diagram of a system structure provided in this application. As shown in Figure 25A, the system includes an AI unit, a data access unit, a processing unit, and a detection device. The AI ​​unit is used to preprocess the environmental information perceived by the sensing unit. For example, the AI ​​unit performs labeling, classification, object recognition, or scene recognition on the environmental information to generate first environmental information. The data access unit is used to transmit the information output by the AI ​​unit to the processing unit. The specific implementation of the processing unit can be referred to the description of the aforementioned processing unit 253, and will not be repeated here. The detection device includes a light-emitting unit and a filter unit array. Optionally, the detection device also includes a shaping unit. The description of each unit in the detection device can be referred to the description of the aforementioned projection device 250, and will not be repeated here.

[0207] Please refer to Figure 25B, which is a schematic diagram of another system structure provided in this application. The difference between Figure 25B and Figure 25A is that the positions of the shaping unit and the filtering unit array in the detection device are different. In Figure 25A, the shaping unit is located between the light-emitting unit and the filtering unit array, while in Figure 25B, the filtering unit array is located between the light-emitting unit and the shaping unit. For a description of the other units in Figure 25B, please refer to the description of Figure 25A above, which will not be repeated here.

[0208] Please refer to Figure 26, which is a flowchart illustrating another projection method provided in this application. It is understood that the steps in the embodiments of this application can be considered reasonable variations or supplements to the embodiments in Figure 4 above; or, it is understood that the imaging method in the embodiments of this application can also be considered as an embodiment that can be executed independently, and this application does not limit it. The projection method shown in Figure 26 includes, but is not limited to, the following steps:

[0209] S2601, the AI ​​unit performs scene recognition. The AI ​​unit may be, for example, the AI ​​unit shown in Figure 25A or Figure 25B above, and will not be described further here. Exemplarily, the AI ​​unit can label, classify, identify objects, or recognize scenes from environmental information to generate first environmental information.

[0210] S2602, the data access unit acquires the recognition result from the AI ​​unit and transmits the recognition result to the processing unit. The data access unit and processing unit are, for example, the data access unit and processing unit shown in Figure 25A or Figure 25B above, and will not be described further here.

[0211] S2603, the processing unit determines the first set of filtering parameters based on the recognition results of the AI ​​unit. The recognition results of the AI ​​unit may be, for example, first environmental information. For a description of the first environmental information and the first set of filtering parameters, please refer to the description in Figure 4 above; it will not be repeated here.

[0212] S2604. The processing unit controls the first filtering unit array to filter the beam using the first filtering parameter set. The first filtering unit array is, for example, the first filtering unit array shown in Figure 25A or Figure 25B above, and will not be described again here. Regarding how the processing unit controls the first filtering unit array to filter the beam using the first filtering parameter set, please refer to the description in Figure 4 above, which will not be repeated here.

[0213] As shown in Figure 26, after executing S2604, S2601 will continue to be executed. Optionally, the projection method shown in Figure 26 is executed at a certain frequency. This application does not limit the execution frequency of the projection method shown in Figure 26. For example, the execution frequency of the projection method shown in Figure 26 is 10Hz, 100Hz, or 1000Hz, etc.

[0214] To better understand the solution provided in this application, the following will provide an exemplary description of the solution provided in this application, using specific examples.

[0215] Please refer to Figure 27A, which is a schematic diagram of another projection scenario provided in this application. As shown in Figure 27A, vehicle 2 is located in the illumination area of ​​vehicle 1. In this case, the beam of light projected by vehicle 1 will affect the solid line of the driver on vehicle 2, thereby causing a traffic accident. In order to reduce the interference of the beam of light projected by vehicle 1 on the driver on vehicle 2, several feasible solutions are shown below in conjunction with the foregoing description.

[0216] Option 1: Reduce or filter out the light intensity of the beam projected from vehicle 1 to vehicle 2 by intensity filtering.

[0217] In one possible implementation, the projection device 250 is mounted on vehicle 1, and the filtering units in the first filtering unit array 252 include one or more of the filtering units shown in Figures 18A, 18B, 20A, 20B, 21A, 21B, 22A, 22B, 23A, or 23B. The filtering units in the first filtering unit array 252 corresponding to the area where vehicle 2 is located can perform intensity filtering on the passing light beam, thereby weakening or filtering out the light beam projected from vehicle 1 onto vehicle 2, and thus reducing the interference of the light beam projected from vehicle 1 on the driver in vehicle 2. Regarding how to control the filtering units in the first filtering unit array 252 to perform intensity filtering on the passing light beam, please refer to the description of the projection method shown in Figures 4 or 26 above, which will not be repeated here. It should be noted that the filtering units shown in Figures 22A and 22B can achieve the effect of intensity filtering when both filtering layers simultaneously perform polarization filtering. Regarding the effect of weakening or filtering the light intensity of the beam projected from vehicle 1 to vehicle 2 by intensity filtering, please refer to Figure 27B.

[0218] As shown in Figure 27B, the beam of light projected by vehicle 1 avoids the area where vehicle 2 is located, thereby preventing the beam of light projected by vehicle 1 from interfering with the driver of vehicle 2 and ensuring that vehicle 2 can participate in traffic better.

[0219] Option 2: By using polarization filtering, the beam of light projected from vehicle 1 to vehicle 2 is polarized in a specified direction.

[0220] In one possible implementation, the windshield of vehicle 2, or the glasses worn by the driver in vehicle 2, can filter out polarized light in the target direction, such as horizontally polarized light or vertically polarized light. In this case, ensuring that the light beam projected by vehicle 1 is polarized in the target direction prevents interference with the driver in vehicle 2. For example, if the windshield of vehicle 2 can filter horizontally polarized light, it can be determined that the light beam projected by vehicle 1 onto vehicle 2 is horizontally polarized light, thus ensuring that the light beam projected by vehicle 1 does not interfere with the driver in vehicle 2.

[0221] For example, the projection device 250 is mounted on vehicle 1, and the filtering units in the first filtering unit array 252 include one or more of the filtering units shown in Figures 13A to 13C, 15A, 15B, 16A, 16B, 17A, 17B, 21A, 21B, 22A, 22B, 23A, or 23B. The filtering units in the first filtering unit array 252 corresponding to the area where vehicle 2 is located can perform vertical polarization filtering on the passing light beam, so that the light beam projected by the projection device 250 onto vehicle 2 is horizontally polarized light. Since the windshield of vehicle 2 can filter out horizontally polarized light, the light beam projected from vehicle 1 onto vehicle 2 does not interfere with the driver in vehicle 2. Regarding how to control the corresponding filtering units in the first filtering unit array 252 to perform intensity filtering on the passing light beam, please refer to the description of the projection method shown in Figure 4 or Figure 26 above, which will not be repeated here. Regarding the polarization filtering, the beam of light projected from vehicle 1 to vehicle 2 is polarized in a specified direction, and the resulting effect can be seen in Figure 27C.

[0222] As shown in Figure 27C, the beam of light projected from vehicle 1 onto vehicle 2 is horizontally polarized light, while the windshield of vehicle 2 can filter out horizontally polarized light. This ensures that while the beam of light projected from vehicle 1 illuminates vehicle 2, the driver of vehicle 2 will not be disturbed by the beam of light from vehicle 1, thus ensuring that vehicle 1 and vehicle 2 can participate in traffic better.

[0223] The solution provided in this application uses a first filter unit array 252 to filter the light beam provided by the light-emitting unit 251. By combining various possible filtering methods (polarization filtering and / or intensity filtering), various filtering attributes (polarization direction, the degree of light beam attenuation by polarization filtering, the degree of light beam attenuation by intensity filtering), and the 'correspondence between the first filter unit array and the first environment', it is possible to project any pattern in the first environment, thereby assisting vehicle drivers to better participate in traffic, or to realize the communication and information exchange between vehicles and other traffic participants.

[0224] In summary, the solution provided in this application determines the first set of filtering parameters based on the first environmental information, enabling the beam of light projected by the projection device 250 into the first environment to present different patterns, resulting in a simple control logic. The projection device 250 provided in this application controls the filtering method of the first filtering unit array 252 based on electrical signals and has no mechanical moving parts, giving it characteristics such as long lifespan and fast response speed. By pre-calibrating the first filtering unit array 252, the sensing field of view, and the first scene (illumination area), beams obtained by different filtering methods can be projected into different illumination areas. By independently controlling the filtering units on the first filtering unit array 252, filtering of some beams can be achieved without affecting the illumination effect on other areas. In this application, the filtering units can be designed as single-layer or multi-layer structures, thereby achieving rich filtering effects and strong scalability. The detection device provided in this application can also emit polarized light in the target direction. Combined with the polarized light filtering capability of the oncoming vehicle itself, it can reduce the interference of vehicle lights to other vehicles without creating blind spots.

[0225] The foregoing descriptions have exemplarily illustrated the projection method and filtering unit provided in this application. To better understand the projection device provided in this application, the functions of each unit / module of the projection device will be further described below. As shown in Figures 3A to 3F, the projection device 250 includes a light-emitting unit 251 and a first filtering unit array 252. The light-emitting unit 251 provides an illumination beam, and the first filtering unit array 252 filters the beam provided by the light-emitting unit 251 using a first filtering parameter set, and projects the filtered beam into a first environment. The environment in which the projection device 250 is located is the first environment, and the first filtering parameter set is determined based on the first environment information corresponding to the first environment.

[0226] Optionally, the projection device 250 further includes a processing unit 253, which is used to control the filtering mode of the first filtering unit array 252 on the one hand, and to acquire and / or process some information on the other hand, and control the first filtering unit array 252 to filter the beam with a first filtering parameter set.

[0227] Optionally, the first set of filtering parameters is determined based on the first environmental information, which is the information corresponding to the first environment in which the projection device 250 is located.

[0228] Optionally, the first filter parameter set includes multiple first filter parameters, and the filtering methods of the first filter parameters include intensity filtering and / or polarization filtering.

[0229] In one possible implementation, the filtering parameters in the first set of filtering parameters include the filtering method and the filtering attribute corresponding to the filtering method. If the filtering method includes polarization filtering, the filtering attribute includes the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation by the polarization filtering in the polarization direction, and / or, if the filtering method includes intensity filtering, the filtering attribute includes the degree of light intensity attenuation by the intensity filtering.

[0230] In another possible implementation, the filtering method in the first set of filtering parameters is polarization filtering, with the polarization direction being vertical and / or horizontal.

[0231] In another possible implementation, the first set of filtering parameters includes a first filtering parameter and a second filtering parameter. The beam emitted from the projection device 250 includes a beam filtered with the first filtering parameter and a beam filtered with the second filtering parameter, the first filtering parameter being different from the second filtering parameter.

[0232] Optionally, the first filtering parameter and the second filtering parameter may differ, including in filtering method and / or filtering attribute. For example, the filtering method may differ in that the first filtering parameter uses polarization filtering while the second filtering parameter uses intensity filtering. Another example is that the filtering attributes may differ in the degree of light intensity attenuation or the polarization direction.

[0233] In another possible implementation, both the filtering methods of the first and second filtering parameters include intensity filtering, but the degree of light intensity attenuation corresponding to intensity filtering in the first and second filtering parameters is different.

[0234] In another possible implementation, the first environmental information includes relevant information about the first object and relevant information about the second object. The beam obtained by filtering with the first filtering parameters is projected onto the first object, and the beam obtained by filtering with the second filtering parameters is projected onto the second object.

[0235] Optionally, the first filtering parameter is determined based on the relevant information of the first object, and the second filtering parameter is determined based on the relevant information of the second object.

[0236] In another possible implementation, the first object includes other traffic participants, and the second object includes the road surface or an object on the road surface other than other traffic participants. When both the first and second filtering parameters include intensity filtering, the degree of light intensity attenuation corresponding to intensity filtering in the first filtering parameter is greater than the degree of light intensity attenuation corresponding to intensity filtering in the second filtering parameter.

[0237] Optionally, the projection device 250 is mounted on the vehicle. For example, the projection device 250 is the vehicle's headlight.

[0238] Optionally, objects on the road surface other than other road users include: traffic signs, fences, green belts, or curbs, etc.

[0239] In another possible implementation, the first environmental information is used to determine a first region of the first environment and a third filtering parameter, the third filtering parameter belonging to the first filtering parameter set. The projection device 250 projects a light beam into the first environment, including: the projection device 250 projects a light beam filtered by the third filtering parameter into the first region.

[0240] Optionally, the first region is the area requiring special lighting based on the analysis of first environmental information. For example, polarization filtering and / or intensity filtering may be required for the beam projected onto the first region. The third filtering parameter is then used to ensure that the beam projected onto the first region is a beam of a specified type (including polarization state and / or beam intensity).

[0241] In another possible implementation, the first region is used to determine the second region of the light outlet of the projection device 250, and the light beam obtained by filtering with the third filtering parameter is the light beam emitted from the second region, and the light beam emitted from the second region is projected onto the first region.

[0242] In another possible implementation, the projection device 250 includes a first filtering unit array 252 and a light-emitting unit 251. The first filtering unit array 252 is used to filter the light beam provided by the light-emitting unit 251 with a first filtering parameter set, and project the filtered light beam into a first environment. The environment in which the projection device 250 is located is the first environment, and the first filtering parameter set is determined based on the first environment information corresponding to the first environment.

[0243] Optionally, the projection device 250 further includes a processing unit 253, which is used to determine a first set of filtering parameters based on the first environment information corresponding to the first environment.

[0244] Optionally, the projection device 250 further includes an acquisition unit for acquiring first environmental information.

[0245] Optionally, the projection device 250 further includes a shaping unit 254, which is disposed between the light-emitting unit 251 and the first filter unit array 252, or the first filter unit array 252 is disposed between the light-emitting unit 251 and the shaping unit 254.

[0246] In another possible implementation, the first filter unit array 252 includes a first filter unit, and the first filter unit includes a first filter layer. The first filter unit is used to filter the beam with first filter parameters, which belong to a first filter parameter set. The first filter layer is used to filter the beam with second filter parameters, which include second filter parameters, and the second filter parameters include a second filtering method and a second filtering attribute corresponding to the second filtering method. The second filtering attribute is adjustable.

[0247] In another possible implementation, the second filtering method is polarization filtering, and the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. Alternatively, the second filtering method is intensity filtering, and the second filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering. Here, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction, and intensity filtering is used to attenuate the light intensity of the beam.

[0248] In another possible implementation, the first filtering unit further includes a second filtering layer for filtering the beam with third filtering parameters. The third filtering parameters include a third filtering mode and a corresponding third filtering attribute, and the third filtering attribute is adjustable. The second filtering mode differs from the third filtering mode, and / or the second filtering attribute differs from the third filtering attribute. The first filtering parameters include the third filtering parameters.

[0249] In another possible implementation, the third filtering method is polarization filtering, and the third filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. Alternatively, the third filtering method is intensity filtering, and the third filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering. In this case, polarization filtering attenuates the light intensity of the beam in the polarization direction, and intensity filtering attenuates the light intensity of the beam.

[0250] In another possible implementation, the first filtering unit further includes a third filtering layer, which is used to filter the beam with fourth filtering parameters. The fourth filtering parameters include a fourth filtering method and a corresponding fourth filtering attribute, and the fourth filtering attribute is adjustable. The first filtering parameters also include the fourth filtering parameters. Both the second and fourth filtering methods are polarization filtering, but the polarization direction corresponding to the second filtering method is different from that corresponding to the fourth filtering method. The third filtering method is intensity filtering. Specifically, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction corresponding to the polarization filtering, and intensity filtering is used to attenuate the light intensity of the beam.

[0251] In another possible implementation, both the second and fourth filtering methods are polarization filters, and the polarization direction corresponding to the second filtering method is orthogonal to the polarization direction corresponding to the fourth filtering method.

[0252] In another possible implementation, the first filter unit array 252 includes one or more of guest-host effect liquid crystal GHLC, metasurface, suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device or electrochromic device.

[0253] The beneficial effects of some embodiments of the projection device 250 described above can be referred to the descriptions of the corresponding contents in Figures 4 or 26, and will not be repeated here. Of course, the projection device 250 described above can also be applied to the projection methods shown in Figures 4 or 26.

[0254] This application also provides a terminal, which includes a projection device 250 shown in Figures 3A to 3F.

[0255] Optionally, the terminal can be a vehicle headlight.

[0256] Optionally, the terminal can be a smart terminal or transportation tool such as a camera, vehicle, drone, or robot; alternatively, the terminal can also be industrial equipment. It should be understood that the terminal involved in this application can include smart terminals or transportation tools such as vehicles, robots, drones, ships, and vessels. Here, "vehicle" is a broad concept and can refer to transportation tools (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.). For example, a robot can be an automated guided vehicle (AGV), a walking conversational robot, a service robot, etc. Industrial equipment includes industrial robots, robotic arms, etc. Leisure and entertainment equipment includes virtual reality (VR) devices, mixed reality (MR) devices, or 4D cinema cabins, etc.

[0257] This application also provides a computer-readable storage medium storing a computer program or computer instructions that are executed by a processor to implement the method implemented by the projection device in FIG4 or FIG26 and their possible embodiments.

[0258] This application also provides a computer program product, which, when read and executed by a computer, will execute the method implemented by the projection device in FIG4 or FIG26 and their possible embodiments.

[0259] This application provides a chip including a processor for executing instructions. When the processor executes the instructions, the chip performs the method described in FIG4 or FIG26 and any of the possible embodiments. Optionally, the chip further includes a communication interface for receiving or transmitting signals.

[0260] In the description of this application, the terms "center," "upper," "lower," "vertical," "horizontal," "left," "right," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. It should be understood that the Z-direction, Y-direction, X-direction, etc., mentioned in some embodiments of this application are referenced to the XYZ Cartesian coordinate system to facilitate the description of features in this solution, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation.

[0261] In this application, the terms "exemplarily" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0262] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0263] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects, and is not for limiting the order, sequence, priority or importance of multiple objects.

Claims

1. A projection method applied to a projection device, characterized in that, The method includes: The projection device projects a light beam into the first environment; The beam emitted by the projection device is a beam obtained after filtering with a first set of filtering parameters. The environment in which the projection device is located is the first environment. The first set of filtering parameters is determined based on the first environment information corresponding to the first environment.

2. The method according to claim 1, characterized in that, The filter parameters in the first set of filter parameters include the filter method and the filter attribute corresponding to the filter method; When the filtering method includes polarization filtering, the filtering attributes include the polarization direction corresponding to the polarization filter and the degree to which the polarization filter attenuates light intensity in the polarization direction; and / or, When the filtering method includes intensity filtering, the filtering attribute includes the degree to which the intensity filtering attenuates the light intensity.

3. The method according to claim 2, characterized in that, The filtering method is polarization filtering, and the polarization direction is vertical and / or horizontal.

4. The method according to any one of claims 1-3, characterized in that, The first set of filtering parameters includes a first filtering parameter and a second filtering parameter; the beam emitted by the projection device includes a beam filtered by the first filtering parameter and a beam filtered by the second filtering parameter, wherein the first filtering parameter and the second filtering parameter are different.

5. The method according to claim 4, characterized in that, Both the filtering methods of the first filtering parameter and the filtering methods of the second filtering parameter include intensity filtering, but the degree of light intensity attenuation corresponding to intensity filtering in the first filtering parameter and the second filtering parameter is different.

6. The method according to claim 4 or 5, characterized in that, The first environmental information includes relevant information about the first object and relevant information about the second object; the beam obtained by filtering with the first filtering parameters is projected onto the first object, and the beam obtained by filtering with the second filtering parameters is projected onto the second object.

7. The method according to claim 6, characterized in that, The first object includes other traffic participants, and the second object includes the road surface or an object on the road surface other than the other traffic participants mentioned above; When both the filtering methods of the first filtering parameter and the second filtering parameter include intensity filtering, the degree of light intensity attenuation corresponding to intensity filtering in the first filtering parameter is greater than the degree of light intensity attenuation corresponding to intensity filtering in the second filtering parameter.

8. The method according to any one of claims 1-7, characterized in that, The first environmental information is used to determine a first region of the first environment and a third filtering parameter, wherein the third filtering parameter belongs to the first filtering parameter set; the projection device projects a light beam into the first environment, including: The projection device projects a beam of light filtered by the third filtering parameter onto the first area.

9. The method according to claim 8, characterized in that, The first region is used to determine the second region of the light outlet of the projection device. The light beam obtained by filtering with the third filtering parameter is the light beam emitted from the second region, and the light beam emitted from the second region is projected onto the first region.

10. A projection device, characterized in that, The projection device includes a first filter unit array and a light-emitting unit; The first filtering unit array is used to filter the light beam provided by the light-emitting unit with a first filtering parameter set, and to project the filtered light beam into a first environment. The environment in which the projection device is located is the first environment, and the first filtering parameter set is determined based on the first environment information corresponding to the first environment.

11. The apparatus according to claim 10, characterized in that, The first filter unit array includes a first filter unit, and the first filter unit includes a first filter layer; The first filtering unit is used to filter the beam with first filtering parameters, wherein the first filtering parameters belong to the first filtering parameter set; The first filtering layer is used to filter the beam with the second filtering parameters, the first filtering parameters including the second filtering parameters; the second filtering parameters include a second filtering mode and a second filtering attribute corresponding to the second filtering mode, the second filtering attribute being adjustable.

12. The apparatus according to claim 11, characterized in that, The second filtering method is polarization filtering, and the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation of the polarization filtering in the polarization direction; or, the second filtering method is intensity filtering, and the second filtering attribute is used to indicate the degree of light intensity attenuation of the intensity filtering. The polarization filter is used to attenuate the light intensity of the beam in the polarization direction, and the intensity filter is used to attenuate the light intensity of the beam.

13. The apparatus according to claim 11 or 12, characterized in that, The first filtering unit further includes a second filtering layer, which is used to filter the beam with a third filtering parameter. The third filtering parameter includes a third filtering method and a third filtering attribute corresponding to the third filtering method. The third filtering attribute is adjustable. The second filtering method is different from the third filtering method, and / or the second filtering attribute is different from the third filtering attribute. The first filtering parameter includes the third filtering parameter.

14. The apparatus according to claim 13, characterized in that, The third filtering method is polarization filtering, and the third filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation by the polarization filtering in the polarization direction; or, the third filtering method is intensity filtering, and the third filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering. The polarization filter is used to attenuate the light intensity of the beam in the polarization direction, and the intensity filter is used to attenuate the light intensity of the beam.

15. The apparatus according to claim 13 or 14, characterized in that, The first filtering unit further includes a third filtering layer, which is used to filter the beam with a fourth filtering parameter. The fourth filtering parameter includes a fourth filtering mode and a fourth filtering attribute corresponding to the fourth filtering mode. The fourth filtering attribute is adjustable. The first filtering parameter includes the fourth filtering parameter. Both the second and fourth filtering methods are polarization filtering, but the polarization direction corresponding to the second filtering method is different from that corresponding to the fourth filtering method. The third filtering method is intensity filtering. The polarization filter is used to attenuate the light intensity of the beam in the polarization direction corresponding to the polarization filter, and the intensity filter is used to attenuate the light intensity of the beam.

16. The apparatus according to claim 15, characterized in that, Both the second filtering method and the fourth filtering method are polarization filtering methods, and the polarization direction corresponding to the second filtering method is orthogonal to the polarization direction corresponding to the fourth filtering method.

17. The apparatus according to any one of claims 10-16, characterized in that, The first filter unit array includes guest-host type liquid crystal GHLC, metasurface, suspended particle device (SPD), polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device, or electrochromic device, or one or more of these.

18. A projection device, characterized in that, Includes modules or units for performing the method as described in any one of claims 1 to 9.

19. A projection device, characterized in that, include: processor; When the processor invokes a computer program or instruction in memory, the method as described in any one of claims 1 to 9 is executed.

20. A vehicle end, characterized in that, The vehicle end includes the projection device according to any one of claims 10 to 17, or the projection device according to any one of claims 18 to 19.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method according to any one of claims 1-9.

22. A computer program product, characterized in that, The computer program product includes instructions that, when executed by a processor, cause the method according to any one of claims 1-9 to be implemented.

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