Projection control method and related apparatus

Abstract

A projection control method and a related apparatus, which are applied to the technical fields of intelligent vehicles and projections. In the present application, a vehicle control apparatus can determine, on the basis of sensing data, a contact position of a first part of a user within an imaging area, and projects a plurality of image frames by means of a projection module, wherein the plurality of image frames form a dynamic effect at an interaction position associated with the contact position, such that interaction and feedback are formed by a vehicle projection with respect to behaviors of a user. Since interaction positions of a dynamic effect are associated with contact positions of a user, the user can clearly perceive that the dynamic effect is generated along with the actions of the user and follows action positions of the user. The dynamic effect is neither randomly generated, nor a monotonous dynamic effect at a fixed position. Therefore, the authenticity and expressiveness of projected patterns can be improved, thereby enhancing the sense of immersion of the user, and improving the interactive experience of the user with respect to the vehicle.

Description

A projection control method and related apparatus Technical Field

[0001] This application relates to intelligent vehicle technology and projection technology, and in particular to a projection control method and related device. Background Technology

[0002] As cars become increasingly intelligent, with headlights becoming more laser-based and pixelated, people are placing greater emphasis on interactivity and a sense of occasion when using vehicles. Currently, in-vehicle light projection can only project specific patterns, resulting in a relatively monotonous application and a lack of immersion for users.

[0003] Summary of the Invention

[0004] This application provides a projection control method and related device, which can project multiple frames of images based on the landing position of a user's part in the imaging area, and present dynamic effects at the interactive positions associated with the landing position. This allows the projected pattern to interact and provide feedback with the user's behavior, thereby improving the realism and expressiveness of the projected pattern, making the vehicle's projection interaction more vivid, increasing the user's immersion, and enhancing the user's interaction experience with the vehicle.

[0005] Firstly, this application provides a projection control method applicable to vehicles, for example, implemented by a vehicle controller or computing device, or by a module within a calculator or controller. This module may include software modules, hardware modules, or a combination of both. For ease of description, the following explanation uses a projection control device as the executing entity. Furthermore, the vehicle also includes a sensing system and / or a projection module. The sensing system is used to sense, measure, or acquire information about a sensed object, which may include environmental information, information about people and objects in the environment, and the projection module is used to project images.

[0006] The projection control method includes: determining the first landing point position of the first part of the first user in the imaging area based on data collected by the sensing system; projecting multiple frames of the first image through a projection module; and forming a first dynamic effect at the first interactive position using the multiple frames of the first image. The first interactive position is either the first landing point position or the first interactive position is associated with the first landing point position.

[0007] The "landing point" refers to the location where the user's first body part lands or comes into contact with the image area. The image area refers to the region on which the pattern projected by the projection module is displayed. For example, when the projection module projects onto the ground, the image area is a specific area on the ground. The user's foot might step across this image area, and the landing point is the location where each step lands. Similarly, when the projection module projects onto a wall, the image area is the area on the wall occupied by the projection module's projection range. The user might touch (or approach) the wall, and the landing point is the location where the user's hand touches or lands on the wall (or above the wall). It should be understood that when projecting onto a wall, the user's hand may or may not touch the wall when landing at the wall's projection area. For example, if the user moves continuously towards a specific location on the wall for a period of time or a certain distance, it is considered a landing operation. A landing operation is considered successful when the distance between the user's hand and the wall is less than a first threshold (e.g., 3 cm).

[0008] In this application, the perception system can perceive information about people and objects in the environment, including the user's activities within the imaging area (or the physical space where the imaging area is located). When the user is active, their first body part may land in the imaging area. The projection control device can determine the first landing point position of the user's first body part on the imaging area based on the data collected by the perception system. The projection control device can project multiple frames of the first image through a projection module. These multiple frames of the first image create a dynamic effect at a first interactive position associated with the first landing point position, enabling the vehicle projection to interact and provide feedback to the user's behavior, increasing the user's immersion and enhancing the user's interactive experience with the vehicle.

[0009] Since the user is active within the imaging area, this application can create dynamic effects in conjunction with the user's movements, making the virtual projected image change dynamically with the user's actions, combining the virtual and real worlds to make the vehicle's projection interaction more vivid. Moreover, the location of this dynamic effect is related to the user's position, allowing the user to clearly perceive that the dynamic effect is generated by their own activity and is consistent with their movement location. It is neither randomly generated nor a monotonous dynamic effect in a fixed position, thus enhancing the realism and expressiveness of the projected image.

[0010] In one possible implementation of the first aspect, the first interaction location is associated with a first landing location. The method further includes determining the first interaction location based on the first landing location and a mapping relationship.

[0011] Based on the above scheme, the interactive position and the landing position are mapped, allowing the virtual projected image to change dynamically according to the user's movements, combining the virtual and real worlds to make the vehicle's projection interaction more vivid. For example, the first landing position and the first interactive position are centrally or axially symmetrical, thus creating a symmetrical interactive effect between the projected image and the user's landing position. As another example, in a ground projection scenario, the user's left and right feet respectively step on the imaging area to form landing positions. When the left foot lands, the interactive position is to the left of the user's left foot, and when the right foot lands, the interactive position is to the right of the user's right foot, allowing the interactive effect to accompany the user's feet and enhancing the user's immersive experience.

[0012] In another possible implementation of the first aspect, the multiple first frames include at least a first sub-image and a second sub-image, the first sub-image including a first animation of a first state, the second sub-image including a first animation of a second state, the first animation of the first state and the first animation of the second state being different, and the first dynamic effect being formed based on the first animation of the different states.

[0013] The above implementation describes the process of forming dynamic effects. By projecting multiple frames, the different states of an object change over time, thereby forming dynamic effects.

[0014] For example, the first dynamic effect includes one or more of the following effects: pattern state change, pattern state iteration, movement of virtual objects, appearance, fade in, fly in, gradual appearance, appearance in a specified shape, roll in, zoom in, zoom out, rotate, bounce, shake, merge, split, bloom, focus, clarity change, movement along a path, color change, rotation, shake, transparency change, bold display, flash, diffuse, dissipate, fade out, etc.

[0015] In another possible implementation of the first aspect, the method further includes: determining the force of a first user's action based on data collected by the sensing system, wherein the first dynamic effect is also related to the force of the first user's action.

[0016] In the above implementation, the user needs to perform an action when landing, and the force of the action will also affect the presentation of the dynamic effect, so that the projection effect is deeply integrated with the user's action, making the projection more vivid and increasing the user's sense of immersion.

[0017] As a possible design, one or more of the following factors in dynamic effects—the amplitude of movement, the speed of state change, and the range of motion—are positively correlated with the force of the movement. For example, in a dynamic effect like water ripples spreading outwards, when the user's landing force is high (e.g., high speed or high acceleration), the water ripples spread faster, or the amplitude of each ripple increases. Another example is a ground projection scene where the user's left and right feet land on the imaging area to form landing points. When the user stomps heavily on the ground, a cracking effect from the ground projection can be superimposed on the dynamic effect. Furthermore, a pit formed by the user's stomping can be projected at the landing point, with the pit becoming larger and deeper as the stomping force increases.

[0018] In another possible implementation of the first aspect, the method further includes: determining distance information between a first part of the first user and the projection area based on data collected by the sensing system, wherein the first dynamic effect is related to the distance information between the first part of the first user and the projection area.

[0019] In the above embodiments, the dynamic effect can be affected by the distance between the user's interactive part and the imaging area. When the user's first part approaches or moves away from the imaging area, it can provide feedback to the user in terms of dynamic effect, thereby enhancing the sense of correlation between the projected image and the user's movement and improving the user's immersion in the projection. For example, before the user places their foot, a footstep shadow is projected onto the imaging area. The closer the user's foot is, the larger the projected footstep shadow becomes.

[0020] In another possible implementation of the first aspect, the method further includes: determining a second landing point position of a first part of a first user in the imaging area based on data collected by the sensing system, wherein the second landing point position is a landing point position before the first landing point position is generated, and the first dynamic effect is also related to the second landing point position.

[0021] Since user actions are continuous, a user may land at multiple points within the imaging area over a period of time. When creating dynamic effects, the correlation between landing points can be considered, so that the dynamic effect is influenced by the previous one or several landing points. For example, taking a virtual pet as an example, the virtual pet can run and jump with the user's steps. When the user lands at the next location, the virtual pet runs, jumps, or changes to the current landing location from the previous location.

[0022] In another possible implementation of the first aspect, the method further includes: determining at least two action phases of the first user based on data collected by the sensing system. At least two frames of the first images in the multi-frame first images each include a first animation in at least two states, and a first dynamic effect is formed based on the first animations in different states, with each of the at least two states of the first animation corresponding to at least two action phases of the first user.

[0023] In the above implementation, multiple action stages correspond to different states of the first animation. The state of the animation projected by the projection control device changes with the action stages, making the virtual projection screen change dynamically according to the user's activities. The combination of virtual and real elements makes the vehicle's projection interaction more vivid.

[0024] In another possible implementation of the first aspect, the method further includes: determining a first action phase of a first user based on data collected by the sensing system, wherein a first dynamic effect corresponds to the first action phase. The first action phase is one of at least two action phases.

[0025] In the above implementation, a user's action stage corresponds to a different state of the first animation. Different dynamic effects can exist in each stage of the user's action, further enhancing the dynamism of the projected image and improving the user experience.

[0026] In another possible implementation of the first aspect, the method further includes: determining a second action stage based on data collected by a sensing system; projecting multiple frames of second images; the multiple frames of second images forming a second dynamic effect at a first interactive position; the second dynamic effect corresponding to the first action stage; and the second dynamic effect being different from the first dynamic effect. Wherein, the first action stage belongs to at least two action stages, and the second action stage is different from the first action stage.

[0027] In the above embodiments, a user may associate multiple action stages with the same location. For multiple stages of the same location, the projection control device can project different dynamic effects for interaction. Taking ground projection as an example, when a user lands, it can include the stage of lifting the foot before landing, the stage of stepping, and the stage of lifting the foot after landing. These three stages can be associated with the same landing location, but the interactive effects can be designed to be different, thereby matching the user's action stages, further enhancing the dynamism of the projected image and improving the user experience.

[0028] In another possible implementation of the first aspect, the method further includes: determining a second landing point position and a second action phase for a first part of the first user based on data collected by the sensing system; projecting multiple frames of second images; the multiple frames of second images forming a second dynamic effect at a second interaction position; the second interaction position being the second landing point position, or the second interaction position being associated with the second landing point position. The second action phase belongs to at least two action phases and is different from the first action phase; the second dynamic effect corresponds to the second action phase and is different from the first dynamic effect.

[0029] In the above implementation, the associated landing points for the two action phases can be different. Since the dynamic effect is influenced by the action phase, the dynamic effect differs depending on the action phase. This further enhances the dynamism of the projected image and improves the user experience.

[0030] In another possible implementation of the first aspect, the imaging area includes the ground, the first portion is the feet of the first user, and the first user's feet include a left foot and a right foot. The first landing point is the landing position of the first user's left foot, and the second landing point is the landing position of the first user's right foot.

[0031] In the above implementation, the first landing point is the landing position of the user's left foot, and the second landing point is the landing position of the user's right foot. The first action phase belongs to the user's left foot movement phase, and the second action phase belongs to the user's right foot landing phase. In this way, different animation effects are triggered during the landing phases of the user's left and right feet, further enhancing the dynamism of the projected image and improving the user experience.

[0032] In another possible implementation of the first aspect, the imaging area includes the ground, the first portion being the feet of a first user, the first user's feet including a left foot and a right foot. The first landing point position and the second landing point position are the landing positions of the user's feet on the same side.

[0033] In the above implementation, different landing points may be located during multiple movement phases of the same foot. Different movement processes of the same foot may also result in different landing points. By locating the user's landing point multiple times during the movement, the accuracy of the interaction is ensured, enhancing the user's interactive experience.

[0034] In yet another possible implementation of the first aspect, the imaging area includes the ground, and the first part is the foot of the first user. Exemplarily, the first user's at least two action phases include one or more of the following: a pre-landing action phase, a foot-stepping action phase, and a post-landing action phase. Even more exemplaryly, the first user's at least two action phases include a left-foot phase and a right-foot phase.

[0035] In another possible implementation of the first aspect, the imaging area forms an angle with the ground, and the first part is the hand of the first user. In this case, the user can interact with the projected image through actions such as clicking and tapping with their hand, thereby enhancing the entertainment function of the projection and improving the service quality.

[0036] In yet another possible implementation of the first aspect, the sensing system includes at least one of a wireless communication device, a visual sensor (camera, depth camera), and a radar sensor. In one possible example, the wireless communication device is used to communicate with an electronic device based on communication technology and to locate the position of the electronic device. In yet another possible example, the wireless communication device is used to sense targets in the environment via wireless signals.

[0037] Optionally, the wireless communication device includes a device for communication based on star-flash communication technology. Star-flash communication technology has the advantage of high positioning accuracy, which can improve positioning accuracy, thereby improving the precision of projection interaction and enhancing the user experience.

[0038] In another possible implementation of the first aspect, the sensing system includes at least a wireless communication device. Determining the first landing point location of the first user's first part within the imaging area based on data collected by the sensing system includes: determining the location of a first electronic device based on positioning data from the wireless communication device, and determining the first landing point location of the first user's first part within the imaging area based on the location of the first electronic device. The first electronic device transmits signals to the wireless communication device, and the first electronic device is bound to the first vehicle. For example, the first electronic device may be pre-configured with a digital key module, which includes a digital key corresponding to the first vehicle; that is, the first electronic device and the first vehicle have been digitally key paired.

[0039] In another possible implementation of the first aspect, the method further includes: determining motion information of the first electronic device based on positioning data from the wireless communication device. Determining the first landing point position of the first part of the first user in the imaging area based on the position of the first electronic device includes: determining the first landing point position of the first part of the first user in the imaging area based on the position of the first electronic device and the motion information of the first electronic device.

[0040] For example, the motion information of the first electronic device includes one or more of the following: the speed of the first electronic device, the direction of motion, acceleration, and acceleration.

[0041] In another possible implementation of the first aspect, determining the first landing point position of the first part of the first user in the imaging area based on the data collected by the sensing system includes: determining the first landing point position of the first part of the first user in the imaging area based on the data collected by the sensing system and the walking habit data of the first user.

[0042] Among them, the walking habit data of the first user corresponds to the identity of the first user. The identity of the first user can be determined by facial recognition of the first user, or by the identifier of the first electronic device (the identifier of the first electronic device is associated with the first user).

[0043] In another possible implementation of the first aspect, the first landing position is located within the projection range of the first projection module. That is, the aforementioned projection control method is executed when the user's landing position enters the projection range of the first module.

[0044] Secondly, this application provides a projection control device, including a unit or module for performing the method described in the first aspect or any possible implementation of the first aspect. Exemplarily, the projection control device includes a processing unit and a projection output unit. The processing unit is used to perform one or more operations such as processing, determining, generating, calculating, predicting, and recognizing. The projection output unit is used to output a projected image.

[0045] Thirdly, this application provides a projection control device, including a processor, a memory, and a communication interface. The communication interface is used to acquire information and / or output information. The memory provides storage space for storing computer instructions, and the processor invokes the computer instructions stored in the memory to execute the method described in the first aspect or any possible implementation thereof.

[0046] Fourthly, this application provides a chip including a processor and an interface circuit. The interface circuit is used to acquire information and transmit it to the processor. The processor uses logic circuits or execution code instructions to implement the method described in the first aspect or any possible implementation of the first aspect.

[0047] Fifthly, this application provides a projection system, which includes a projection module and a projection control device according to a second or third aspect. The projection control device is used to provide a projected image to the projection module, the projected image including a first projection pattern, and the projection module is used to project the image. Further, the projection module is disposed in a vehicle headlight.

[0048] Sixthly, this application provides a vehicle, which includes the projection system and sensing device of the fifth aspect. The sensing device is used to collect driving scene information of the vehicle and provide the driving scene information of the vehicle to the projection system.

[0049] In a seventh aspect, this application provides a readable storage medium for storing a computer program that, when executed by a processor, causes an apparatus including a processor to implement the method described in the first aspect or any possible implementation thereof.

[0050] Eighthly, this application provides a computer program product that, when executed by a processor, causes a device including a processor to implement the method described in the first aspect or any possible implementation of the first aspect.

[0051] The beneficial effects of aspects two through eight of this application can be found in the beneficial effects of the solution in aspect one. Attached Figure Description

[0052] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0053] Figure 1 is a schematic diagram of the architecture of a projection system provided in an embodiment of this application;

[0054] Figure 2 is a schematic diagram of a vehicle projection scene provided in an embodiment of this application;

[0055] Figure 3 is a schematic diagram of another vehicle projection scene provided in an embodiment of this application;

[0056] Figure 4 is a schematic diagram of another vehicle projection scene provided in an embodiment of this application;

[0057] Figure 5 is a schematic flowchart of a projection control method provided in an embodiment of this application;

[0058] Figure 6 is a schematic diagram of a communication scenario between a communication system and an electronic device;

[0059] Figure 7 is a schematic diagram showing the relationship between the distance between an electronic device and a vehicle and the triggering function;

[0060] Figure 8 is a schematic diagram of a projection interaction scenario provided in an embodiment of this application;

[0061] Figure 9 is a time-division diagram of a multi-frame image provided in an embodiment of this application;

[0062] Figure 10 is a schematic diagram of a dynamic effect provided in an embodiment of this application;

[0063] Figure 11 is a schematic diagram of another dynamic effect provided by an embodiment of this application;

[0064] Figure 12 is a schematic diagram of another dynamic effect provided by an embodiment of this application;

[0065] Figure 13 is a schematic diagram of another dynamic effect provided by an embodiment of this application;

[0066] Figure 14 is a schematic diagram of another dynamic effect provided by an embodiment of this application;

[0067] Figure 15 is a schematic diagram of another dynamic effect provided by an embodiment of this application;

[0068] Figure 16 is a schematic diagram of a projection control device provided in an embodiment of this application;

[0069] Figure 17 is a schematic diagram of another projection control device provided in an embodiment of this application. Detailed Implementation

[0070] The following is a brief introduction to some of the terms that may be involved in this application.

[0071] An electronic control unit (ECU) is a type of controller primarily used to control vehicle operation or to implement intelligent functions within the vehicle. ECU can broadly refer to various controllers within a vehicle, such as one or more of the following: engine management system (EMS), automatic transmission control unit (TCU), electronic stability program (EMS), vehicle control unit (VCU), domain controller (DC), and mobile data center (MDC).

[0072] A domain controller is a functional domain formed by dividing a vehicle's systems according to their functions, such as powertrain domain, chassis domain, body domain, cockpit domain, autonomous driving domain, left domain, right domain, etc. Each domain in the vehicle is centrally controlled by a high-performance computing platform; this device is the domain controller. A domain controller mainly includes, but is not limited to, one or more processors, memory, communication interfaces, power management modules, and sensor interfaces. The processor is responsible for running various software algorithms within the domain, processing data, making decisions, and controlling actuators. Memory is used to store the operating system, applications, and data, or for temporarily storing running programs and data. The communication interface is used to communicate with other electronic devices in the vehicle, enabling data transmission and interaction. The power management module is responsible for managing and distributing the power supply to the domain controller, ensuring a stable power supply to the system under different operating conditions. The sensor interface connects to various types of sensors, such as cameras, radar, and accelerometers, depending on the domain, allowing the processor to receive, process, and analyze sensor data from the corresponding domain. It should be understood that a domain controller may connect to other domain controllers or other controllers or processors with data processing capabilities to transmit or share information.

[0073] MDC, also known as Intelligent Driving Domain Controller, is positioned as the computing platform for intelligent driving and is a key hardware architecture for realizing software-defined vehicles. The hardware architecture of the MDC includes, but is not limited to, a main control chip, sensor interfaces, communication modules, power management modules, and cooling systems. The main control chip provides powerful artificial intelligence computing power to handle the numerous perception and computational tasks in intelligent driving, as well as system control functions. The sensor interfaces can have rich interfaces to connect to various types of sensors. These interfaces ensure that the MDC can quickly and accurately receive information from different sensors, providing data support for intelligent driving decisions. The communication module has high-speed communication capabilities, supporting communication methods such as in-vehicle Ethernet (for example only), ensuring efficient communication with the vehicle ECU and the cloud, and enabling real-time data transmission and interaction.

[0074] The above descriptions of technical terms can be applied to the embodiments described below.

[0075] With the development of intelligent technology, more and more vehicles are equipped with projection modules that can project specific patterns around the vehicle. However, the application of projecting specific patterns can no longer meet the interactive and ritualistic needs of users when using the vehicle.

[0076] In view of this, this application provides a projection control method and related device, which can present dynamic effects at interactive positions associated with the landing point of a user's part in the imaging area through multiple frames of projected images, based on the landing point position of a certain part of the user's body. This allows the projected pattern to interact and provide feedback with the user's behavior, thereby improving the realism and expressiveness of the projected pattern, making the vehicle's projection interaction more vivid, increasing the user's immersion, and enhancing the user's interaction experience with the vehicle.

[0077] Please refer to Figure 1, which is a schematic diagram of the architecture of a projection system provided in an embodiment of this application. The projection system 100 can be installed in a vehicle, or at least partially (e.g., the projection module 20) installed in a vehicle. The projection system 100 includes a projection control device 10 and a projection module 20, and may further include a sensing system 30. Wherein:

[0078] The projection control device 10 is a computing device capable of processing information and obtaining a projected image. The projection control device 10 may include a computing-capable hardware module and / or a computing-capable software module. Examples based on hardware and software implementations are described below.

[0079] As an example of hardware implementation, the projection control device 10 may include at least one processor, which is a module with processing capabilities. In one implementation, the processor may include circuitry with instruction read and execute capabilities, such as an arithmetic logic unit (ALU), processor core, central processing unit (CPU), microprocessor, microcontroller unit (MCU), graphics processing unit (GPU), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuitry, which may be fixed or reconfigurable. For example, the processor may be a hardware circuitry implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuitry, the process of the processor loading a configuration document and configuring the hardware circuitry can be understood as the process of the processor loading instructions to implement the corresponding functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In some implementations, the projection control device 10 includes at least one processor integrated as a system-on-chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors can be different, such as including a CPU and an NPU.

[0080] For example, the projection system 100 can be applied to vehicle projection scenarios, and the projection control device 10 can be a computing device in the vehicle, such as an ECU. More exemplarily, the projection control device 10 includes, but is not limited to, a domain controller (DC), a mobile data center (MDC), an electronic control unit (ECU), or a vehicle integrated / integration unit (VIU). The DC may include a cockpit domain controller (CDC).

[0081] As an example of software implementation, the projection control device 10 may include software functional units. As another example of a software functional unit, the projection control device 10 may include one or more of the following: an executable computer program, computer code, or computer instructions, where "executable" means capable of running on a processor or computing instance. As yet another example of a software functional unit, the projection control device 10 may include computing instances, including virtual machines, containers, etc. A virtual machine is a computer system simulated by software, possessing complete hardware system functionality and running in an isolated environment. A container is an isolated environment obtained by packaging applications and their dependencies.

[0082] Projection module 20 is a device with projection capabilities, capable of projecting images (including video) into an object space. For example, projection module 20 may include a projection lens, and optionally a processor connected to the projection lens, which is used to acquire the projected image and control the projection lens to project. The image projected by projection module 20 can be carried by an imaging area. For example, referring to Figure 2, projection module 20 in vehicle 200 can project an image onto the ground, so the imaging area is the area carrying the projected image. As another example, referring to Figure 3, projection module 20 in vehicle 200 can also project an image onto a wall, in which case the imaging area is the wall carrying the projected image. It should be understood that the wall shown in Figure 3 is an exemplary, non-ground object carrying the image. In some embodiments, the wall can be replaced by other objects at an angle to the ground, such as a screen, a ramp, or a board (such as a wooden board or metal plate) carrying the projected image. Furthermore, the angle between the wall (or other object carrying the projected image) and the ground can be 90° (i.e., perpendicular), or it may be other angles.

[0083] In some cases, the imaging region can be understood as a physically existing entity. The imaging region exists before the image is projected, and after the image is projected, the image is carried by the imaging region. The imaging region can diffusely reflect the light beam projected by the projection module 20, allowing the human eye to observe the projected image. For example, for an uneven ground or a non-planar area, the imaging region is the surface of an uneven physical entity.

[0084] In some cases, the imaging area can be understood as a virtual imaging surface. For projection module 20, the beam it projects can achieve the best observation effect on a certain image surface, which can be used as the imaging surface. Referring to Figure 4, for an uneven ground or a non-planar area, the image projected by the projection module can achieve the best observation effect on a certain image surface, which can be used as the imaging area.

[0085] In some solutions, the imaging area can be preset; for example, the user can set the projection module to project onto a wall or the ground. In other solutions, the projection control device 10 or other controller can detect the object space and adaptively adjust the position of the imaging area. For example, when a slope is detected in the field of view in front of the projection module 20, the projection angle of the projection module can be corrected so that the projected image can be clearly presented.

[0086] In some possible solutions, referring to Figure 2, the projection module 20 can be located at the headlight position of the vehicle 200. Exemplarily, the projection module 20 can be integrated with the headlights; that is, the headlights can function as the projection module 20 to project images. Of course, this application also applies to cases where the projection module 20 is independent of the headlights. Furthermore, the projection device can also be deployed in other locations within the vehicle, such as on the roof of the vehicle's cabin, at the front of the vehicle, or on the instrument panel (IP, or IP repeater).

[0087] In this application, the projection control device 10 can provide (e.g., output, send, transmit) a projected image to the projection module 20, which can then project the image onto an object space. The projected image may include one or more projected patterns. Optionally, the projection control device 10 and the projection module 20 can be integrated into the same device, or they can be separately installed in different devices. When they are separately installed in different devices, the projection control device 10 is connected to the projection module 20. This connection can include wired connection, wireless connection, and a combination of wired and wireless connection.

[0088] In some possible implementations, the projection system 100 includes a sensing system 30, or the projection system 100 is connected to the sensing system 30. The sensing system 30 includes sensing devices for acquiring data, such as one or more of the following: images of targets in object space, point cloud data, distance, velocity, etc.

[0089] As one possible implementation, the perception system may include one or more of the following: visual sensors, radar sensors, and wireless communication devices. In some embodiments, the projection system 100 includes a perception system 30. For example, the perception system 30 and the projection module 20 may be integrated into the same device, or one or more sensors in the perception system 30 may be integrated into the projection module 20. For example, radar sensors may be integrated into the projection module 20, or radar sensors and the projection module may be integrated into the vehicle lights.

[0090] For example, a vision sensor includes a camera. The camera includes a photosensitive unit capable of sensing light signals and forming an image. Examples of photosensitive units include complementary metal-oxide-semiconductor (CMOS), charge-coupled devices (CCD), and Live MOS. Cameras are typically classified based on the type of photosensitive unit in the image sensor. For instance, a camera with a CMOS photosensitive unit is a CMOS image sensor (CIS). A CIS can include one or more of the following: a color sensor, a monosensor, etc. A color sensor can be, for example, a red-green-blue channel sensor (RGB sensor).

[0091] Radar sensors are devices that detect objects by emitting detection signals and receiving the echoes returned from targets in the object space. Based on the echo processing, radar sensors can obtain relevant information about the target in the object space, such as distance, position, angle, velocity, reflectivity, reflection intensity, image, color, texture, and material, or one or more other types of information. Depending on the type of detection signal emitted, radar sensors can be categorized into radar (electronic wave-based radar), lidar, and ultrasonic radar. In some solutions, radar sensors and image sensors can be integrated into the same sensing device for fused detection, such as depth cameras and radar imagers.

[0092] A wireless communication device is a device capable of receiving wireless signals, and optionally also capable of transmitting wireless signals. After being transmitted into the object space, the wireless signal travels through multiple transmission paths to reach the receiving device. Based on the received wireless signal, the wireless communication device can sense objects in the object space and obtain one or more pieces of information such as the object's position, distance, direction of motion, angle, size, speed of motion, and material. For example, based on the basic Fresnel zone model, the wireless communication device can sense the motion of objects in space through the waveform of the received wireless signal. The wireless technologies used in the wireless communication device include one or more of the following: SparkLink (or NearLink), wireless local area network (WLAN), Bluetooth, Zigbee, radio frequency identification (RFID), ultra-wideband (UWB) technology, communication technologies based on long term evolution (LTE), 5th generation mobile networks (or 5th generation wireless systems, 5th-Generation, abbreviated as 5G or 5G technology), global system for mobile communications (GSM), general packet radio service (GPRS), or universal mobile telecommunications system (UMTS), etc.

[0093] It should be understood that the projection system shown in Figure 1 is merely an example. In some embodiments, the projection system 100 may include more projection modules 20, more sensing systems 30, etc. Taking the projection system 100 including multiple projection modules 20 as an example, referring to Figure 2, the multiple projection modules 20 can be respectively set at different locations in the vehicle 200. The sensing system 30 may include multiple types of sensors, which can be installed at multiple locations in the vehicle to collect data from different fields of view. For example, at least two wireless communication devices can be installed at multiple locations in the vehicle, and the at least two wireless communication devices can communicate with the user's electronic device 300 to locate the user's position. In other embodiments, the projection control device 10 may include multiple modules, which can be separately installed in different devices and cooperate to complete the functions of the projection control device 10.

[0094] As described above, the imaging area can hold the image projected by the projection module 20. Users can move within the imaging area (or the physical space where the imaging area is located), and the sensing system 30 can sense the user's activities. When a user is active, their first part of their body may land at a point within the imaging area. Referring to Figure 2, when the projection module 20 projects onto the ground, the imaging area is a region on the ground. At this time, the user's foot may step across this imaging area, and the landing point of each foot is the landing point, as shown in Figure 2 for user foot positions #1, #2, and #3. Similarly, referring to Figure 3, when the projection module 20 projects onto a wall, the imaging area is the area on the wall occupied by the projection range of the projection module. At this time, the user may click, tap, or approach the wall with their hand, and the landing point is the point where the user's hand clicks or lands on the wall.

[0095] In this embodiment, the projection control device 10 can determine the first landing point position of the user's first part on the imaging area based on the data collected by the sensing system 30. The projection control device 10 can project multiple frames of the first image through the projection module 20. The multiple frames of the first image form a dynamic effect at the first interactive position associated with the first landing point position, such as displaying interactive effects like "dragonfly skimming the water," "lotus blossoms with every step," and "lively pet accompanying," so that the vehicle projection interacts and provides feedback to the user's behavior, increasing the user's immersion and improving the user's interactive experience with the vehicle.

[0096] The methods provided in the embodiments of this application will be described below.

[0097] Please refer to Figure 5, which is a flowchart illustrating a projection control method provided in an embodiment of this application. Optionally, this projection control method can be applied to a projection system, such as the projection system shown in Figure 1, or it can be applied to a vehicle shown in Figures 2, 3, or 4. The projection control method shown in Figure 5 may include steps S501 to S502. It should be understood that the embodiments of this application do not limit the execution time, number of executions, etc., of one or more of the above steps. S501 to S502 are as follows:

[0098] S501: The projection control device determines the first landing point position of the first part of the first user in the imaging area based on the sensing data.

[0099] The projection control device is a data processing device, such as an ECU. For further details, please refer to the description of the projection control device 10 shown in Figure 1.

[0100] The first user can be a specific user, or the first user can be any user. Three possible designs are described below:

[0101] Design 1: The first user can be a user holding a first electronic device, which is an electronic device with the authority to unlock the vehicle. For example, in a welcome projection scenario or a scenario specifically for interaction with the vehicle's controller, the image projected onto the vehicle is only used for interaction with a user who has the authority to unlock the vehicle.

[0102] Design 2: The vehicle can pre-record the user's facial information or other biometric information. Taking facial recognition as an example, the vehicle can include visual sensors or radar sensors to identify a specific user. That is, the first user is a predefined user, or the first user has pre-set interaction permissions.

[0103] Design 3, where the first user is any one or more movable people or objects (including living objects, such as animals). For example, a projection control device can be used for game interaction, where the interactive object is any one or more movable people or objects.

[0104] The user's first body part is a specific part of the user's body, which can be pre-designed or pre-defined. For example, the first body part might be pre-set as the user's foot, hand (such as fingers), or knee. Alternatively, the first body part might be pre-set as the body part closest to the imaging area, which could be any part such as the hand or foot. The landing point refers to the location where the user's first body part lands or comes into contact with the image within the imaging area. For example, when the projection module projects onto the ground, the imaging area is a region on the ground. The user's foot might step across this imaging area, and the landing point is the location where each step lands. Similarly, when the projection module projects onto a wall, the imaging area is the area on the wall occupied by the projection module's projection range. The user might touch (or come close to) the wall, and the landing point is the location where the user's hand touches or lands on the wall (or above the wall).

[0105] Optionally, in a wall projection scenario, when a user's hand lands on the projection area of ​​the wall, the user's hand may or may not touch the wall. For example, if the user moves continuously towards a certain position on the wall for a period of time or a certain distance, it is determined as a landing operation. If the distance between the user's hand and the wall is less than a first threshold (e.g., 3 cm), the landing operation is considered successful. It should be noted that the wall here is an exemplary, non-ground object that carries the image. In some solutions, the wall can also be replaced by other entities that are at an angle to the ground, such as a screen, a ramp, or a board (such as a wooden board or metal plate) that carries the projected image.

[0106] Sensing data refers to data collected by the sensing system. In some schemes, the data collected by the sensing system may be processed before being used in the projection control process; that is, data from the sensing system is used in the process of recognizing user activities. This will be described in detail below. In some possible implementations, the sensing system includes at least one of the following: wireless communication devices, visual sensors (cameras, depth cameras), and radar sensors. These will be described separately below:

[0107] Implementation method 1: The sensing system includes a wireless communication device. The wireless communication device can sense the user's activities and obtain sensing data through methods such as communication positioning or wireless signal sensing. The specific implementations of the communication positioning method and the wireless signal sensing positioning method are described below.

[0108] As one possible implementation example, the wireless communication device communicates with the first electronic device via communication technology to obtain positioning data and provides it to the projection control device. The positioning data indicates the position of the first electronic device. For example, the positioning data includes the angle of the electronic device relative to the vehicle and the distance of the first electronic device. Alternatively, the positioning data may include the coordinate position of the first electronic device relative to the vehicle. Correspondingly, the projection control device determines the position of the first electronic device based on the positioning data from the wireless communication device, and determines the first landing point position of the first user's first part in the imaging area based on the position of the first electronic device. Referring to Figure 2, when a user walks carrying the electronic device 300, the position of the electronic device 300 can reflect the position of the user's footing. For example, when a user walks while holding the electronic device 300 and swinging their arm, there is a certain correlation between the position of the electronic device 300 and the user's footing position. The projection control device can predict the user's footing position based on the position of the electronic device.

[0109] In the aforementioned implementation example, there is signal transmission between the first electronic device and the wireless communication device, and the first electronic device is bound to the first vehicle. For example, the first electronic device is pre-configured with a digital key module, which includes a digital key corresponding to the first vehicle; that is, the first electronic device and the first vehicle have been digitally key paired.

[0110] It should be noted that the aforementioned wireless communication device refers to a wireless communication system in a broad sense. In some schemes, the wireless communication device may include multiple nodes. Please refer to Figure 6, which is a schematic diagram of a communication system communicating with an electronic device. The vehicle 200 is equipped with a communication system including multiple nodes, such as positioning nodes T1 to T4, and a control node. One or more positioning nodes T1 to T4 can interact with the electronic device 300 to measure signals (including receiving and / or sending measurement signals), thereby measuring information such as the signal strength, distance, position, speed, or direction of movement of the electronic device 300, obtaining measurement results, and reporting them to the control node. Based on the measurement results reported by multiple wireless communication devices, the control node summarizes (or calculates) to obtain the positioning data of the electronic device 300. The control node can provide the positioning data of the electronic device 300 to the projection control device, or the control node can be the projection control device, or the control node can be used to perform a part of the functions of the projection control device.

[0111] In some scenarios, users carry electronic devices in different ways, and the relationship between the device and the user's footing position varies accordingly. For example, when a user holds an electronic device in their hand and walks while swinging their arm, the device moves back and forth around the user's center of gravity. When it reaches a high point in front of or behind the user, the user places a foot on it. On the other hand, when a user holds the device in front of them, it moves relatively smoothly or sways slightly from side to side as the user walks. In this case, the user's footing position is relatively fixed relative to the device's position, such as to the left or right front of the device. It can be seen that the movement information of the electronic device reflects both how the user carries it and their movement state. By combining this movement information with the device's position, we can more accurately predict the user's footing position.

[0112] As one possible design, the positioning data is also used to indicate the movement of the first electronic device. Based on the positioning data from the wireless communication device, the projection control device can determine the movement information of the first electronic device. Based on the position and movement information of the first electronic device, the projection control device determines the first landing point position of the first user's first part within the imaging area. Of course, the aforementioned scenario uses the landing point as an example, and it is equally applicable to other interactive scenarios. For example, in some solutions, if a user achieves landing point positioning on a wall projection by carrying an electronic device, the movement information of the electronic device also helps to accurately determine the user's landing point position on the wall projection.

[0113] As another possible implementation example, a wireless communication device can transmit sensing signals and receive echoing sensing signals to determine relevant information about a target in object space. For example, the wireless communication device can transmit electromagnetic waves and, based on the echo of the electromagnetic waves, sense one or more of the user's distance, position, speed, direction of movement, etc.

[0114] As another possible implementation example, a wireless communication device can determine the motion of a target in object space by using a Fresnel zone-based model, thereby sensing the user's activities in object space and locating the user's position.

[0115] In embodiment 2, the sensing system includes a vision sensor, and the images acquired by the vision sensor include an image of the first user. Based on the images from the vision sensor, the projection control device is able to identify or predict the landing position of the first user.

[0116] In implementation method 3, the sensing system includes a radar-based sensor system capable of detecting targets in the object space. The detection results include relevant information about the targets, such as their distance, position, and motion information. When the first user moves within the sensing range of the radar-based sensor system, the detection results include relevant information about the first user. Based on the detection results from the radar-based sensor system, the projection control device can identify or predict the landing position of the first user.

[0117] For example, the detection results of a radar sensor may include one or more of the following: point cloud data, time-of-flight (TOF) results, or spectrograms. Alternatively, the measurement results of a radar sensor may be information obtained by processing the above data, such as one or more of the following: target identification results, target distance, target position, etc.

[0118] It should be understood that the above-described various implementation methods can be combined. As one possible example of this combination, the projection control device determines the position of the first electronic device based on positioning data from the wireless communication device, and determines the landing position of the first user matching the position of the first electronic device based on data from a visual sensor or radar sensor. That is, the projection control device first determines the first user requiring interaction (i.e., initially locks onto the user) at the location of the electronic device through communication with it, and then, combined with data from the visual sensor or radar sensor, accurately determines the landing position of the first user. In this way, accurate interaction with the target can be achieved, reducing interference from irrelevant personnel and improving the user experience.

[0119] For example, referring to Figure 2, a user carries an electronic device 300, which contains a digital key for the vehicle 200. When the user approaches the vehicle 200 with the electronic device 300, the vehicle's wireless communication device can acquire the location data of the electronic device 300. The vehicle 2000 also contains an imaging device; the sensing device can sense targets around the vehicle and obtain perception results, including images, point clouds, or relevant information about the targets. The projection control device determines the position of the electronic device 300 based on the location data from the wireless communication device. Based on the perception results, the projection control device identifies the positions of people around the vehicle, including, for example, the position of the first user. When the position of the first user matches the position of the electronic device 300, for example, if the distance between them is less than a certain threshold, the projection control device determines the footsteps of the first user based on the perception results (optionally combined with the position of the first electronic device).

[0120] In some possible implementations, when the first part is the user's foot, the user's walking habit data can also be incorporated when determining the user's foot placement. For example, the projection control device determines the first landing point of the first part of the first user's body in the imaging area based on data collected by the sensing system and the first user's walking habit data. For instance, for user U1, whose left foot has smaller steps and right foot has larger steps, incorporating user U1's walking habit data can help accurately determine the user's foot placement.

[0121] In some possible implementations, the first user's walking habit data corresponds to the first user's identity. Optionally, the first user's identity can be determined by facial recognition or by the identifier of the first electronic device (the identifier of the first electronic device is associated with the first user).

[0122] In some possible implementations, the location of the first electronic device is determined by communication positioning, which can also be used to determine whether the triggering conditions for implementing projection interaction are met. In some possible implementations, the first electronic device is bound to the vehicle. When the position between the first electronic device and the vehicle meets preset conditions, the projection control method shown in Figure 5 is triggered. Referring to Figure 7, the projection interaction of this application can be used in a welcoming interaction scenario. The electronic device 300 and the vehicle 200 have been paired with a digital key, and the electronic device 300 contains the digital key of the vehicle 200. When the distance between the electronic device 300 and the vehicle 200 is less than a certain threshold (or replaced by other measurements that can characterize the distance between the electronic device 300 and the vehicle 200), such as 8m, the conditions for welcoming projection (or one of the conditions) are met, thereby triggering the execution of the scheme shown in Figure 5. This allows the user to have a virtual-real combined, dynamic and immersive interaction with the vehicle before getting in, enhancing the user's getting-in experience.

[0123] Furthermore, as the user approaches the vehicle 200 with the electronic device 300, the vehicle 200 can be unlocked. As shown in Figure 7, when the distance between the two is less than 4m, the electronic device enters the unlocking zone of the vehicle 200, and the vehicle unlocks. Further, when the distance between the electronic device 300 and the vehicle 200 meets the remote control conditions (e.g., the distance is less than 10m, or the strength of the measured signal is higher than the threshold TH1), the electronic device 300 enters the remote control zone of the vehicle 200, and the communication system in the vehicle 200 performs communication positioning of the electronic device 300.

[0124] S502: The projection control device projects multiple frames of the first image through the projection module, and the multiple frames of the first image form a first dynamic effect at the first interactive position.

[0125] Here, the first interactive position is either the first landing position or it is associated with the first landing position. In the latter case, the first landing position and the first interactive position may be different. As one possible design, the projection control device can determine the first interactive position based on the first landing position and the mapping relationship. That is, the interactive position and the landing position form a mapping; for example, the first landing position and the first interactive position are centrally symmetrical or axially symmetrical, so that the projected image and the user's landing position form a symmetrical interactive effect. For example, taking a ground projection scene as an example, the user's left and right feet respectively step on the imaging area to form landing positions. When the left foot lands, the interactive position is to the left of the user's left foot, and when the right foot lands, the interactive position is to the right of the user's right foot, thus allowing the interactive effect to accompany the user's feet and enhancing the user's interactive immersion.

[0126] The following embodiments are illustrated using the interactive position as the first landing point as an example. Please refer to Figure 8, taking a ground projection scene as an example, where the first part can be the feet of the first user. The first user walks continuously on the imaging area, and their landing positions are successively landing position #0, landing position #1, landing position #2, and landing position #3. Among them, landing position #0, landing position #1, and landing position #2 are the actual landing positions that the user has already landed at, while landing position #3 is the predicted landing position.

[0127] Taking foothold #2 as an example, when the projection control device determines the user's foothold based on the perception data, it can project multiple frames of graphics. These multiple frames of images can form dynamic effects at foothold #2, such as water ripples, blooming flowers, and fireworks. This allows the pattern at the user's foothold to dynamically evolve in sync with the user's footsteps, making the virtual projection image change dynamically with the user's movements. This combination of virtual and real elements makes the vehicle's projection interaction more vivid.

[0128] A single frame describes an image at a specific moment in time. Multiple frames refer to image data that correspond to different times on the timeline and have different content. A frame is the basic unit of video and animation, representing a single instant in time. In some scenarios, the frame count is the number of image frames transmitted within a specified time period. In this embodiment, each frame in a multiple-frame image set corresponds to a different time, and the multiple frames are projected sequentially according to their order on the timeline.

[0129] Of course, in some schemes, multi-frame images are not necessarily stored as multiple images. For example, multi-frame images are stored as keyframes and difference data between keyframes through video compression algorithms. However, multi-frame images stored in this way still fall within the scope of multi-frame images described in this application.

[0130] As one possible implementation, the multi-frame first image includes at least a first sub-image and a second sub-image. The first sub-image includes a first animation in a first state, and the second sub-image includes a first animation in a second state. The first animation in the first state and the first animation in the second state are different, and the first dynamic effect is formed based on the first animation in the different states.

[0131] Please refer to Figure 9, which is a time-division schematic diagram of a multi-frame image provided in an embodiment of this application, and also an example of a dynamic effect. At time T0, the user has not yet entered the interactive area or a valid landing point has not yet been detected. At this time, one of the frames projected by the projection module is shown in part (a) of Figure 9. At time T1, the projection control device determines the user's landing point position. Taking the ground projection and footstep interaction scene as an example, this landing point position is the position of the first footstep (for easy distinction, it is called landing position #1). At this time, one of the frames projected by the projection control device through the projection module is shown in part (b) of Figure 9. Further, the projection control device projects several frames of images shown in parts (c), (d), and (e) of Figure 9 at times T2, T3, and T4, respectively. Combining parts (b) to (e) of Figure 9, it can be seen that the state of the animation changes continuously in the multi-frame images, forming a water ripple diffusion effect. The position where the water ripple is generated is the user's landing position, thus forming a dynamic interactive effect in conjunction with the first user's landing.

[0132] Furthermore, in conjunction with part (f) of Figure 9, when the first user forms a new landing position (such as landing position #1), a water ripple diffusion effect also begins to form at the new landing position. The water ripple diffusion effect at landing position #1 can further form the state changes shown in parts (c), (d) and (e) of Figure 9. Even multiple water waves can form dynamic interaction. For example, after different water waves meet, they can change as if real water waves meet.

[0133] Furthermore, referring to Figure 9, the projected image can also include other animations or static images. Therefore, this application can be combined with existing projection applications to overlay dynamic interactions with the user's footsteps onto existing projected images, increasing the user's sense of immersion. Of course, the dynamic effect shown in Figure 9 above is illustrated with the example of the interaction position being the user's landing position. This application is also applicable to situations where the interaction position and the landing position are different, but the interaction position and the landing position are related.

[0134] Figure 9 above exemplifies the process of creating a dynamic effect. By projecting multiple frames, the different states of an object change over time, thus creating a dynamic effect. The above dynamic effects are merely examples. In some possible solutions, the first dynamic effect may include one or more of the following effects: pattern state change, pattern state iteration, movement of virtual objects, appearance, fade-in, fly-in, gradual appearance, appearance in a specified shape, roll-in, zoom in, zoom out, rotate, bounce, shake, merge, split, bloom, focus, sharpness change, movement along a path, color change, rotation, shaking, transparency change, bold display, flashing, diffusion, dissipation, or fade-out, etc.

[0135] To facilitate understanding of this solution, some possible dynamic interactive effects of this application will be further introduced below.

[0136] Please refer to Figure 10, which is a schematic diagram of another dynamic effect provided in an embodiment of this application. The first animation may include at least the three states shown in Figure 10: part (a) of Figure 10 shows the bud state, part (b) shows the blooming state, and part (c) shows the falling petals state. Taking the user's landing point as an example, the dynamic effect shown in Figure 10 can achieve the interactive effect of "lotus blossoms blooming and falling," which, combined with the user's movement in the projection area, can achieve a harmonious interplay between the virtual and real, making the vehicle's projection interaction more vivid.

[0137] Furthermore, the dynamic effects shown in Figure 10 can be designed to be more sophisticated. Combining with part (a) of Figure 11, more states can be set during the bud stage, projecting more frames of images to create a dynamic effect of the bud dynamically growing. Similarly, as shown in parts (b) and (c) of Figure 11, more varied stages can be created through more refined state design. For example, during the blooming stage, multiple frames of images can create the effect of petals gradually opening, and during the petal falling stage, multiple frames of graphics can create the effect of petals slowly falling.

[0138] Please refer to Figure 12, which is a schematic diagram of another dynamic effect provided in an embodiment of this application. The first animation may include at least two of the three states shown in Figure 12: part (a) of Figure 12 shows the firecracker appearance state, part (b) shows the fireworks display state, and part (c) shows the fireworks dissipation state. Taking the user's landing point as the interactive location as an example, the dynamic effect shown in Figure 12 can achieve an interactive effect where fireworks continuously bloom according to the landing point.

[0139] Please refer to Figure 13, which is a schematic diagram of another dynamic effect provided in an embodiment of this application. The first animation may include at least two of the three states shown in Figure 13: Figure 13(a) shows the cloud drifting in, Figure 13(b) shows the cloud fixed (meaning the cloud's position is fixed, but this can also be combined with a water mist effect to display the cloud's misty motion), and Figure 13(c) shows the cloud drifting away. Taking the user's landing position as the interactive location as an example, the dynamic effect shown in Figure 13 can achieve an interactive effect of riding the clouds.

[0140] Please refer to Figure 14, which is a schematic diagram of another dynamic effect provided in an embodiment of this application. Taking a ground projection and foot interaction scene as an example, the projection module can project the grass shown in Figure 14. At the position where the first user lifts their foot (before placing it down), a shadow is formed on the grass. At the position where the first user places their foot, the projected image shows the effect of the grass being trampled and bent. At the position where the first user lifts their foot (after placing it down), the projected image shows the effect of the trampled grass gradually unfolding. Through the dynamic effect shown in Figure 14, a virtual grass trampling effect can be achieved.

[0141] Please refer to Figure 15, which is a schematic diagram of another dynamic effect provided by an embodiment of this application. Multiple landing points can be associated. For example, the flowering position of a vine can correspond to the user's landing point. When the user forms a new landing point, the top of the vine extends to the user's current new landing point, forming a dynamic interactive effect that is constantly growing and constantly evolving.

[0142] The following section describes some possible implementation methods of this application.

[0143] In some possible implementations, the user needs to perform an action upon landing, and the force of the action will also affect the presentation of the dynamic effect, making the projection effect deeply integrated with the user's action, making the projection more vivid and further enhancing the user's immersion. As one possible implementation, the projection control device determines the force of the first user's action based on data collected by the sensing system; the first dynamic effect is also related to the force of the first user's action.

[0144] For example, one or more of the following in a dynamic effect—the amplitude of the movement, the speed of the state change, and the range of motion—are positively correlated with the force of the movement. For instance, in a dynamic effect where water ripples spread outwards, when the user's landing force is high (e.g., high speed or high acceleration), the water ripples spread faster, or the amplitude of each ripple increases. Another example is a ground projection scene where the user's left and right feet land on the imaging area to form landing points. When the user stomps heavily on the ground, a cracking effect can be superimposed on the dynamic effect, further projecting a crater at the user's landing point; the greater the landing force, the larger and deeper the crater.

[0145] In some possible implementations, the dynamic effect can be influenced by the distance between the user's interactive part (i.e., the first part) and the imaging area. When the user's first part moves closer to or further away from the imaging area, it provides feedback to the user in terms of dynamic effect, thereby enhancing the connection between the projected image and the user's movement and improving the user's immersion in the projection. As one possible implementation, the projection control device determines the distance information between the first user's first part and the projection area based on data collected by the sensing system. The first dynamic effect is related to this distance information. For example, referring to Figure 14, before the user places their foot, a footstep shadow is projected onto the imaging area. The closer the user's foot is to the ground (projection area), the larger the projected footstep shadow. Similarly, referring to Figure 11, before the user places their foot, a flower bud is projected onto the imaging area. The closer the user's first part is to the imaging area, the larger (or more mature) the flower bud appears.

[0146] In some possible implementations, since the user's actions are continuous, the user may form multiple landing points within the imaging area over a period of time. When creating dynamic effects, the correlation between landing points can be considered, so that the dynamic effect is influenced by the previous one or several landing points. For example, taking a virtual pet as an example, the virtual pet can run and jump with the user's steps. When the user lands at the next location, the virtual pet runs, jumps, or changes to the current landing location from the previous landing location.

[0147] As one possible implementation, the projection control device determines the second landing point position of the first part of the first user in the imaging area based on the data collected by the sensing system. The second landing point position is a landing point position before the first landing point position is generated, and the first dynamic effect is also related to the second landing point position. For example, referring to Figure 15, when the user lands at the current position (e.g., landing point #4), the vine spreads from the previous landing point position (e.g., landing point #3) to the current landing point position.

[0148] In some possible implementations, the projection control device determines at least two action phases of the first user based on data collected by the sensing system. At least two frames of the first images in the multi-frame first images each include a first animation in at least two states, and the first dynamic effect is formed based on the first animation in different states, with the first animation in at least two states corresponding to at least two action phases of the first user.

[0149] In the above embodiments, multiple action stages correspond to different states of the first animation. Taking a ground projection and foot interaction scene as an example, referring to Figure 10, the projection control device, based on perception data, can identify that the user is currently in the stage of lifting their foot (not yet landing). At this time, the projection control device projects the image shown in Figure 10(a) at the predicted landing position. Further, based on perception data, when the user is currently in the landing stage, the projection control device projects the image shown in Figure 10(b) at the predicted landing position. Further still, based on perception data, when the user is currently in the stage of lifting their foot (after landing), the projection control device projects the image shown in Figure 10(c) at the predicted landing position.

[0150] In some other possible implementations, a user's action phase corresponds to a different state of the first animation, and different dynamic effects can exist in each user's action phase, further enhancing the dynamism of the projected image and improving the user experience.

[0151] As one possible design, the projection control device determines the first action stage of the first user based on data collected by the sensing system, and the first dynamic effect corresponds to the first action stage. The first action stage is one of at least two action stages. For example, referring to Figure 11, during the stage where the user lifts their foot (but has not yet placed it down), the projection control device projects multiple frames of images as shown in Figure 11(a) onto the predicted foot placement position using a projection module, thus creating a dynamic effect in one stage.

[0152] Furthermore, the projection control device determines the second action stage based on the data collected by the sensing system, projects multiple frames of second images, and these multiple frames of second images form a second dynamic effect at the first interactive position. The second dynamic effect corresponds to the first action stage, and the second dynamic effect is different from the first dynamic effect. Specifically, the first action stage belongs to at least two action stages, and the second action stage is different from the first action stage. For example, referring to Figure 11, during the user's landing stage, the projection control device projects multiple frames of images as shown in Figure 11(b) at the predicted landing position through the projection module.

[0153] In some possible implementations, multiple different action stages can correspond to different landing positions. The projection control device can control the projection module to project multiple frames of second images to create different dynamic effects at different interaction positions. As one possible implementation, the projection control device determines the second landing position and the second action stage of the first user's first part based on data collected by the sensing system, and then projects multiple frames of second images. These multiple frames of second images create a second dynamic effect at the second interaction position, which is either the second landing position or associated with it. The second action stage belongs to at least two action stages and is different from the first action stage. The second dynamic effect corresponds to the second action stage and is different from the first dynamic effect. In the above implementation, the associated landing positions for the two action stages can be different. Since the dynamic effect is affected by the action stage, the dynamic effect differs depending on the action stage. This further enhances the dynamism of the projected image and improves the user experience.

[0154] For example, the imaging area includes the ground, and the first part is the foot of the first user. In the above implementation, the first landing point is the landing position of the user's left foot, and the second landing point is the landing position of the user's right foot. The first action phase belongs to the movement phase of the user's left foot, and the second action phase belongs to the landing phase of the user's right foot. In this way, different animation effects are triggered during the landing phases of the user's left and right feet, further enhancing the dynamism of the projected image and improving the user experience.

[0155] For another example, the imaging area includes the ground, and the first part is the feet of the first user, which includes the left foot and the right foot. In the above implementation, the first landing point position and the second landing point position are the landing positions of the user's feet on the same side. During the movement of the same foot, different landing point positions may be located at multiple movement stages. For example, during the foot-lifting stage, the projection control device predicts that the user will land at point A, but this landing point may change. For example, the user may land at point B. Therefore, different movement processes of the same foot may also locate different landing point positions. By locating the user's landing point multiple times during the movement, the accuracy of the interaction is ensured, and the user's interactive experience is improved.

[0156] In some possible implementations, the dynamic effects can be updated in stages or randomly. That is, for multiple landing point operations, the corresponding dynamic effects can be different. By using variable dynamic effects, the novelty of user interaction can be enhanced. For example, the dynamic effects can be updated every 5 landing points. Alternatively, the dynamic effects for each landing point can be determined randomly. In this case, the same action can trigger different dynamic interaction effects at different landing points.

[0157] As another example, the dynamic effects are also related to the distance between the user's landing position and the vehicle. For instance, when the user's landing position is within a first range (e.g., a distance of 8m to 5m from the vehicle), a certain dynamic effect is triggered or it is randomly triggered within a certain set of dynamic effects; when the user's landing position is within a second range (e.g., within 5m of the vehicle), another dynamic effect is triggered or it is randomly triggered within another set of dynamic effects.

[0158] In conjunction with the foregoing, as one possible implementation, the first dynamic effect is also related to a first distance range to which the first landing point belongs, which describes the distance interval between the user and the vehicle. When the user forms a third landing point within the second distance range, the projection control device determines the third landing point position of the first user in the imaging area based on the perception data. The projection control device can project multiple frames of third images, which form a third dynamic effect at the third interactive position. The third interactive position is the same as or corresponds to the first dynamic effect. The third landing point position is located within the second distance range, and the third dynamic effect is different from the first dynamic effect. That is, the dynamic effect corresponding to the landing point position is also related to the distance range in which the landing point position is located. When the distance range is different, the same landing operation may trigger different dynamic effects.

[0159] The embodiments shown in Figure 5 above describe a variety of possible implementations, which can be combined without mutual exclusion.

[0160] In the embodiment shown in Figure 5, the projection control device projects images in conjunction with the user's movements in the imaging area, creating dynamic effects at the interactive locations. This allows the virtual projected image to change dynamically with the user's actions, combining the virtual and real elements to make the vehicle's projection interaction more vivid. Moreover, the location of this dynamic effect is related to the user's landing point. The user can clearly feel that the dynamic effect is generated by their own movement and is accompanied by their movement position. It is neither randomly generated nor a monotonous dynamic effect in a fixed position, which can improve the realism and expressiveness of the projected pattern.

[0161] The methods of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0162] It should be understood that the division of units in the apparatus provided in this application embodiment is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the apparatus can be implemented by a processor calling software. For example, the apparatus includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a CPU or MPU, and the memory is either internal or external to the apparatus.

[0163] Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all of the units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD (Programmable Logic Controller). Taking an FPGA as an example, it can include a large number of logic gates, and the connection relationships between these logic gates are configured through configuration files to achieve the functionality of some or all of the above units.

[0164] In the embodiments of this application, each unit in the device may be one or more processors (or processing circuits) configured to implement the above methods, such as: ECU, CPU, GPU, NPU, TPU, DPU, MPU, digital signal processor (DSP), ASIC, FPGA, or a combination of at least two of these processor forms.

[0165] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as including a CPU and an FPGA, or including a CPU and an MCU, or including a CPU and a GPU, etc. Several possible devices are listed below.

[0166] Please refer to Figure 16, which is a schematic diagram of a projection control device provided in an embodiment of this application. Optionally, the projection control device 160 can be an independent device, such as a vehicle or a computing device (e.g., an ECU). Alternatively, the projection control device 160 can also be a component within an independent device (such as a vehicle or an ECU), such as a chip or an integrated circuit. The projection control device 160 is used to implement the aforementioned projection control method, such as the projection control method and its possible implementations shown in Figure 5.

[0167] For example, the projection control device 160 includes a processing unit 1601 and a projection output unit 1602. The processing unit 1601 performs one or more operations such as processing, determining, generating, calculating, predicting, and recognizing. The projection output unit 1602 outputs a projected image, for example, providing the projected image to a projection module. This projection control device 160 implements the projection control method shown in FIG5.

[0168] In one possible implementation, the processing unit 1601 is used to determine the first landing point position of the first part of the first user in the imaging area based on the data collected by the sensing system, and the projection output unit 1602 is used to project multiple frames of the first image through the projection module, and the multiple frames of the first image form a first dynamic effect at the first interactive position. Here, the first interactive position is the first landing point position, or the first interactive position is associated with the first landing point position.

[0169] In another possible implementation, the first interaction position is associated with the first landing position. The processing unit 1601 is also configured to determine the first interaction position based on the first landing position and the mapping relationship.

[0170] In another possible implementation, the processing unit 1601 is further configured to determine the force of the first user's action based on the data collected by the sensing system, and the first dynamic effect is also related to the force of the first user's action.

[0171] In another possible implementation, the processing unit 1601 is further configured to determine the distance information between the first part of the first user and the projection area based on the data collected by the sensing system, and the first dynamic effect is related to the distance information between the first part of the first user and the projection area.

[0172] In another possible implementation, the processing unit 1601 is further configured to determine, based on the data collected by the sensing system, the second landing point position of the first part of the first user in the imaging area, the second landing point position being a landing point position before the first landing point position is generated, and the first dynamic effect is also related to the second landing point position.

[0173] In another possible implementation, the processing unit 1601 is further configured to determine at least two action stages of the first user based on data collected by the sensing system. At least two frames of the first images in the multi-frame first images each include a first animation in at least two states, and the first dynamic effect is formed based on the first animation in different states, with the first animation in at least two states corresponding to at least two action stages of the first user.

[0174] In another possible implementation, the processing unit 1601 is further configured to determine a first action stage of the first user based on data collected by the sensing system, wherein the first dynamic effect corresponds to the first action stage. The first action stage is one of at least two action stages.

[0175] In another possible implementation, the processing unit 1601 is further configured to determine a second action stage based on data collected by the sensing system, project multiple frames of second images, and form a second dynamic effect at the first interactive position. The second dynamic effect corresponds to the first action stage, and the second dynamic effect is different from the first dynamic effect. Specifically, the first action stage belongs to at least two action stages, and the second action stage is different from the first action stage.

[0176] In another possible implementation, the processing unit 1601 is further configured to determine the second landing point position and the second action stage of the first part of the first user based on the data collected by the sensing system, project multiple frames of second images, and form a second dynamic effect at the second interaction position. The second interaction position is the second landing point position, or the second interaction position is associated with the second landing point position. The second action stage belongs to at least two action stages and is different from the first action stage. The second dynamic effect corresponds to the second action stage and is different from the first dynamic effect.

[0177] In another possible implementation, the sensing system includes at least a wireless communication device. The processing unit 1601 is further configured to determine the position of the first electronic device based on the positioning data of the wireless communication device, and to determine the position of the first point of the first user's first part in the imaging area based on the position of the first electronic device.

[0178] In another possible implementation, the processing unit 1601 is further configured to determine motion information of the first electronic device based on positioning data from the wireless communication device. The processing unit 1601 is also configured to determine the first landing point position of the first part of the first user in the imaging area based on the position and motion information of the first electronic device.

[0179] In another possible implementation, the base processing unit 1601 is further configured to determine the first landing point position of the first part of the first user in the imaging area based on the data collected by the sensing system and the walking habit data of the first user.

[0180] Please refer to Figure 17, which is a schematic diagram of another projection control device provided in an embodiment of this application. As shown in Figure 17, the projection control device 170 can be an independent device, such as a vehicle or a computing device (e.g., an ECU). Alternatively, the projection control device 170 can also be a component within an independent device (such as a vehicle or an ECU), such as a chip or integrated circuit. This projection control device 170 is used to implement the aforementioned projection control method, such as the projection control method and its possible implementations shown in Figure 5.

[0181] The projection control device 170 may include at least one processor 1701 and a memory 1703. Optionally, it may also include a communication interface 1702. Further optionally, it may also include a connection line 1704, wherein the processor 1701, the communication interface 1702 and / or the memory 1703 are connected via the connection line 1704, and / or communicate with each other via the connection line 1704 to transmit control signals and / or data signals.

[0182] in:

[0183] Processor 1701 is a module that performs arithmetic and / or logical operations, and may specifically include one or more of the following modules: CPU, application processor (AP), MCU, ECU, GPU, MPU, ASIC, image signal processor (ISP), DSP, FPGA, complex programmable logic device (CPLD), or coprocessor, etc.

[0184] Communication interface 1702 can be used to provide information input or output to at least one processor, or to receive and / or transmit signals to externally transmitted signals. For example, communication interface 1702 may include interface circuitry. For instance, communication interface 1702 may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). Optionally, communication interface 1702 may also include a radio frequency transmitter, antenna, etc. If communication interface 1702 includes an antenna, the number of antennas may be one or more.

[0185] As one possible design, if the projection control device 170 is a standalone device, the communication interface 1702 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0186] As another possible design, if the projection control device 170 is a chip or circuit, the communication interface 1702 may include an input interface and an output interface, which may be the same interface or different interfaces.

[0187] Alternatively, the functionality of the communication interface 1702 can be implemented via a transceiver circuit or a dedicated transceiver chip.

[0188] The memory 1703 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 1703 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0189] The functions and actions of each module or unit in the projection control device 170 listed above are merely illustrative examples.

[0190] Each functional unit in the projection control device 170 can be used to implement the aforementioned projection control method, such as the projection control method and its possible implementation shown in FIG5.

[0191] Optionally, the processor 1701 may be a processor specifically designed to perform the aforementioned methods (for ease of distinction, referred to as a dedicated processor), or a processor that performs the aforementioned methods by calling a computer program (for ease of distinction, referred to as a dedicated processor). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0192] Optionally, if the projection control device 170 includes at least one memory 1703, and the processor 1701 implements the aforementioned projection control method by calling a computer program, the computer program can be stored in the memory 1703.

[0193] This application also provides a chip including logic circuitry and a communication interface. The communication interface is used to receive and / or send information, or to input and / or output information. The logic circuitry is used to process the information. This chip is used to implement the aforementioned projection control method, such as the projection control method shown in FIG5 and its possible implementations.

[0194] This application provides a vehicle, as shown in Figure 2. The vehicle 200 includes a projection control device 10, a projection module 20, and a sensing system 30. The sensing device is used to sense relevant information about targets in the object space surrounding the vehicle 200.

[0195] For example, the projection control device 10 may be a computing device.

[0196] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor (or projection control device), implement the aforementioned projection control method, such as the projection control method and its possible implementations shown in Figure 5 and other embodiments.

[0197] This application also provides a computer program product, which includes computer instructions for implementing the aforementioned projection control method, such as the projection control method and its possible implementations shown in FIG5.

[0198] It should be noted that, in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0199] In this embodiment, the names of information and devices are given exemplary purposes to facilitate understanding of the content of this solution. In specific implementations, their names may have other designs. Furthermore, the names of the same thing may also have different designs in different scenarios.

[0200] In the embodiments of this application, "at least one" 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 a single item or a plurality of items.

[0201] For example, at least one of a, b, or c can be represented as: 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, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "OR" relationship.

[0202] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first," "second," etc., 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. Similarly, "first image" and "second image" are merely for the convenience of describing operational information in different implementations and do not indicate differences in their importance, display method, etc.

[0203] In the above embodiments, the term "when..." can be interpreted, depending on the context, as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". The above descriptions are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of this application should be included within the protection scope of this application.

[0204] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

Claims

1. A projection control method, characterized in that, Applied to a vehicle, the vehicle including a perception system and a projection module, the method includes: Based on the data collected by the sensing system, the first landing point of the first part of the first user in the imaging area is determined; Multiple frames of a first image are projected by a projection module, and the multiple frames of the first image form a first dynamic effect at a first interactive position. The first interactive position is the first landing position, or the first interactive position is associated with the first landing position.

2. The method according to claim 1, characterized in that, The first interactive position is associated with the first landing position, and the method further includes: Based on the first landing point location and the mapping relationship, the first interaction location is determined.

3. The method according to claim 1 or 2, characterized in that, The multi-frame first image includes at least a first sub-image and a second sub-image. The first sub-image includes a first animation in a first state, and the second image includes a first animation in a second state. The first animation in the first state and the first animation in the second state are different. The first dynamic effect is formed based on the first animation in different states.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Based on the data collected by the sensing system, the force of the first user's action is determined, and the first dynamic effect is also related to the force of the first user's action.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Based on the data collected by the sensing system, the distance information between the first part of the first user and the projection area is determined, and the first dynamic effect is related to the distance information between the first part of the first user and the projection area.

6. The method according to any one of claims 1-5, characterized in that, Before determining the first landing point position of the first part of the first user in the imaging area based on the data collected by the sensing system, the method further includes: Based on the data collected by the sensing system, the second landing point position of the first part of the first user in the imaging area is determined. The second landing point position is a landing point position before the first landing point position is generated. The first dynamic effect is also related to the position of the second landing point.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Based on the data collected by the sensing system, at least two action phases of the first user are determined; At least two of the first frames in the multi-frame first image each include at least two states of the first animation, and the first dynamic effect is formed based on the first animation in different states. The first animation in at least two states corresponds to at least two action phases of the first user.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Based on the data collected by the sensing system, the first action stage of the first user is determined, and the first action stage is one of at least two action stages. The first dynamic effect corresponds to the first action phase.

9. The method according to claim 8, characterized in that, The method further includes: Based on the data collected by the sensing system, a second action stage is determined, wherein the first action stage belongs to the at least two action stages and the second action stage is different from the first action stage. Projecting multiple frames of second images, the multiple frames of second images forming a second dynamic effect at the first interactive position, the second dynamic effect corresponding to the first action stage, the second dynamic effect being different from the first dynamic effect.

10. The method according to claim 8, characterized in that, The method further includes: Based on the data collected by the sensing system, the second landing point position of the first part of the first user and the second action stage are determined, wherein the second action stage belongs to the at least two action stages and the second action stage is different from the first action stage. Projecting multiple frames of second images, the multiple frames of second images forming a second dynamic effect at a second interactive position, the second interactive position being the second landing position, or the second interactive position being associated with the second landing position; The second dynamic effect corresponds to the second action stage, and the second dynamic effect is different from the first dynamic effect.

11. The method according to claims 1-10, characterized in that, The imaging area includes the ground, the first part is the first user's feet, and the first landing point is the first landing position.

12. The method according to claim 10, characterized in that, The imaging area includes the ground, and the first part is the feet of the first user, which includes the left foot and the right foot. The first landing point is the landing position of the first user's left foot, and the second landing point is the landing position of the first user's right foot.

13. The method according to any one of claims 7-10, characterized in that, The imaging area includes the ground, the first part is the foot of the first user, and the first user's at least two action phases include at least one of the pre-foot landing action phase, the foot-stepping action phase, and the post-foot landing action phase.

14. The method according to claims 1-10, characterized in that, The imaging area forms an angle with the ground, and the first part is the first user's hand.

15. The method according to claims 1-14, characterized in that, The first dynamic effect includes one or more of the following effects: Pattern state changes, pattern state iterations, virtual object movement, appearance, fade in, fly in, gradual appearance, appear in a specified shape, roll in, zoom in, zoom out, rotate, bounce, shake, merge, split, bloom, focus, clarity changes, movement along a path, color changes, rotation, sway, transparency changes, bold display, flash, diffuse, dissipate, fade out.

16. The method according to any one of claims 1-14, characterized in that, The sensing system includes at least one of a wireless communication device, a visual sensor (camera, depth camera), and a radar sensor.

17. The method according to any one of claims 11-16, characterized in that, The sensing system includes at least a wireless communication device. Determining the position of the first part of the first user's body in the imaging area based on the data collected by the sensing system includes: Based on the positioning data of the wireless communication device, the location of the first electronic device is determined. The first electronic device has signal transmission with the wireless communication device and is bound to the first vehicle. Based on the position of the first electronic device, the first landing point position of the first part of the first user in the imaging area is determined.

18. The method according to claim 17, characterized in that, The method further includes: Based on the positioning data from the wireless communication device, the motion information of the first electronic device is determined; Based on the position of the first electronic device, determining the position of the first landing point of the first part of the first user in the imaging area includes: Based on the position and motion information of the first electronic device, the first landing point of the first part of the first user in the imaging area is determined.

19. The method according to any one of claims 11-13, characterized in that, Determining the position of the first part of the first user's body in the imaging area based on the data collected by the sensing system includes: Based on the data collected by the sensing system and the walking habit data of the first user, the first landing point of the first part of the first user in the imaging area is determined.

20. A projection control device, characterized in that, The projection control device includes a processing unit and a projection output unit. The projection device is used to implement the method according to any one of claims 1-19.

21. A projection control device, characterized in that, The projection control device includes a processor and a memory. The memory provides storage space for storing computer instructions. The processor is used to invoke computer instructions stored in the memory to execute the method as described in any one of claims 1-19.

22. A projection system, characterized in that, The projection system includes a projection module and the projection control device as described in claim 20 or claim 21. The projection control device is used to provide the projection module with multiple frames of images to be projected; The projection module is used to project the multiple frames of images to be projected.

23. The projection system according to claim 22, characterized in that, The projection module is installed in the vehicle headlight.

24. A vehicle, characterized in that, The vehicle includes a sensing system and a projection system as described in claim 22 or 23. The sensing system is used to collect data.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store computer instructions; When the instruction is executed by the processor, the method described in any one of claims 1-19 is performed.

26. A computer program product, characterized in that, The computer program product includes computer language code or computer instructions; When the computer program product is executed by a processor, the method described in any one of claims 1-19 is performed.

Images