Coordinated projection method and apparatus, and vehicle

Abstract

A coordinated projection method and apparatus, and a vehicle, which are applicable to the fields of intelligent vehicles and electric vehicles. The method comprises: acquiring image information, which image information comprises projected images of intelligent headlamps of a plurality of vehicles, wherein the plurality of vehicles are vehicles performing coordinated projection of an image to be projected, and the plurality of vehicles comprise at least a first vehicle and a second vehicle; and on the basis of the image information and a first distance between the first vehicle and the second vehicle, controlling the first vehicle to adjust a pose thereof, so as to change a relative positional relationship between a projection position of an intelligent headlamp of the first vehicle and a projection position of an intelligent headlamp of the second vehicle. By means of coordinated projection of a plurality of vehicles, projection requirements of users for some complex projection resources can be satisfied.

Description

Team projection methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to a platooning projection method, apparatus, and vehicle. Background Technology

[0002] Currently, the use of intelligent headlights in vehicles typically involves pre-installing pre-made video projection resources. Users can choose different resources to use the intelligent headlights for greetings, rotating playback, and providing visual prompts in different scenario modes. However, currently, users can only project simple projection resources through the intelligent headlights of a single vehicle, which cannot meet users' needs for projecting more complex content. Summary of the Invention

[0003] This application provides a method, apparatus, and vehicle for group projection, which enables group projection using multiple vehicles, thus helping to meet users' projection needs for some complex projection resources.

[0004] In a first aspect, this application provides a group projection method, the method comprising: acquiring first image information, the first image information including projected images of the intelligent headlights of multiple vehicles, the multiple vehicles being vehicles for group projection of the image to be projected, the multiple vehicles including at least a first vehicle and a second vehicle; controlling the first vehicle to adjust its posture according to the first image information and a first distance between the first vehicle and the second vehicle, so as to change the relative positional relationship between the projected positions of the intelligent headlights of the first vehicle and the intelligent headlights of the second vehicle, the first distance being real-time data collected by the first vehicle and / or the second vehicle.

[0005] Based on the above technical solution, by using the first image information and the distance between the first and second vehicles, the first vehicle can be controlled to adjust its posture, thereby changing the relative positional relationship between the projection positions of the first vehicle's intelligent headlights and the second vehicle's intelligent headlights. This ensures a better stitching effect between the projected images of the first and second vehicles, improving the viewing experience when multiple vehicles project images, thus enhancing the user's visual experience. Simultaneously, by considering the distance between the first and second vehicles, a safe distance can be maintained between the first and second vehicles during the posture adjustment process, avoiding the risk of collision between them.

[0006] The above-mentioned group projection method can be executed by vehicles. Through the control of the vehicle itself or the control of other vehicles, the projection images of the intelligent headlights of multiple vehicles can be spliced ​​and combined, which helps to improve the intelligence level of the vehicles.

[0007] In some possible implementations, the method is performed by the vehicle to acquire first image information, including: acquiring first image information captured by a camera outside the cockpit.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring second image information and a second distance between the first vehicle and the second vehicle, the second image information including another projected image of the intelligent headlights of multiple vehicles after the first vehicle adjusts its posture; controlling the first vehicle to adjust its posture based on the second image information and the second distance; wherein the difference between the second image information and the target projected image is less than the difference between the first image information and the target projected image.

[0009] Based on the above technical solution, after the first vehicle adjusts its posture, it can continue to acquire projected images of multiple vehicles and the distance between the first and second vehicles. This allows for continued posture adjustment of the first vehicle based on the second image information and the distance between the first and second vehicles when the stitching effect of the projected images from the first and second vehicles does not meet expectations. Through multiple posture adjustments, the stitching effect of the projected images from the first and second vehicles can be ensured to better meet expectations, improving the viewing experience for users when projecting images from multiple vehicles, thus enhancing the user's visual experience.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, controlling the first vehicle to adjust its posture includes: controlling the intelligent headlights of the first vehicle to adjust their posture.

[0011] Based on the above technical solution, the position of the intelligent headlights of the first vehicle can be fixed or non-fixed. When the position of the intelligent headlights of the first vehicle is fixed, the vehicle's position can be adjusted, ultimately adjusting the projected position of the first vehicle to achieve a combination with the projected position of the second vehicle. When the position of the intelligent headlights of the first vehicle is non-fixed, the position of the intelligent headlights can be adjusted. This allows for a combination of the projected positions of the first and second vehicles without requiring adjustments to the vehicle's position, improving the efficiency of adjusting the projected position of the first vehicle.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, controlling the first vehicle to adjust its pose based on the first image information and the first distance between the first vehicle and the second vehicle includes: obtaining the target pose of the first vehicle based on the first image information and the first distance; obtaining the first pose adjustment path of the first vehicle based on the target pose and the first collision risk between the first vehicle and surrounding obstacles; and controlling the first vehicle to adjust its pose based on the first pose adjustment path.

[0013] Based on the above technical solution, the target pose of the first vehicle can be obtained based on the first image information and the first spacing. When planning the pose adjustment path of the first vehicle, the collision risk between the first vehicle and surrounding obstacles can be considered in the planning of the first pose adjustment path. In this way, the risk of collision between the first vehicle and surrounding obstacles during pose adjustment can be avoided, and the pose adjustment of the first vehicle can be achieved while ensuring safety.

[0014] In some possible implementations, the method further includes: obtaining speed information of one or more path points on the first posture adjustment path based on the first collision risk between the first vehicle and surrounding obstacles; wherein, controlling the first vehicle to adjust its posture based on the first posture adjustment path includes: controlling the first vehicle to adjust its posture based on the first posture adjustment path and the speed information.

[0015] In some possible implementations, the method further includes: obtaining the pose adjustment paths of at least some of the vehicles other than the first vehicle among a plurality of vehicles before controlling the first vehicle to adjust its pose; and determining a first collision risk between the first vehicle and at least some of the vehicles based on the target pose and the pose adjustment paths of the at least some vehicles.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: during the process of controlling the first vehicle to adjust its posture, acquiring a second collision risk between the first vehicle and surrounding obstacles; when the second collision risk meets preset conditions, controlling the first vehicle to stop and acquiring third image information, the third image information including projected images of the intelligent headlights of multiple vehicles after the first vehicle stops; and controlling the second vehicle to adjust its posture based on the third image information.

[0017] Based on the above technical solution, the collision risk between the first vehicle and surrounding obstacles can be acquired in real time during the first vehicle's posture adjustment process. When the collision risk meets preset conditions, the first vehicle can be controlled to stop, and projection images of multiple vehicles after the first vehicle stops can be acquired. Based on these projection images, the second vehicle can be controlled to adjust its posture. Thus, if a collision risk occurs during the first vehicle's posture adjustment process, the second vehicle can be controlled to adjust its posture. While ensuring safety, the projection images of the first and second vehicles can be better stitched together, contributing to vehicle safety and the user's visual experience. In some possible implementations, controlling the second vehicle's posture adjustment based on third image information includes: controlling the second vehicle's posture adjustment based on the third image information and the distance between the first and second vehicles.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, controlling the first vehicle to adjust its posture based on the first image information and the first distance between the first vehicle and the second vehicle includes: sending a first instruction based on the first image information and the first distance, the first instruction being used to instruct the first vehicle to adjust its posture.

[0019] Based on the above technical solution, taking the method executed by a vehicle as an example, a first command can be sent using the first image information and the distance between the first and second vehicles, thereby instructing the first vehicle to adjust its pose. In this way, the pose of the first vehicle can be adjusted through interaction between the vehicles.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, sending the first instruction includes: sending a first broadcast message, the first broadcast message including the first instruction, the first instruction including the identification information of the first vehicle and the position adjustment information of the first vehicle.

[0021] Based on the above technical solution, taking the method executed by a vehicle as an example, a first broadcast message can be sent using the first image information and the distance between the first vehicle and the second vehicle. This first broadcast message includes the identification information of the first vehicle and its pose adjustment information. Thus, after receiving the first broadcast message, the first vehicle can obtain its pose adjustment information from the first broadcast message based on its identification information, thereby controlling the first vehicle to perform pose adjustments.

[0022] In some possible implementations, the first instruction includes a correspondence between identification information of at least one vehicle and pose adjustment information of at least one vehicle, wherein the at least one vehicle includes the first vehicle. Thus, upon receiving the first broadcast message, each of the at least one vehicle can obtain its own pose adjustment information based on its identification information, thereby enabling control of each vehicle to perform pose adjustment.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the first image information includes multiple sub-projected images, each of the multiple sub-projected images including identification information of the vehicle projecting each sub-projected image, wherein sending the first broadcast message includes: sending the first broadcast message according to the identification information of the vehicle projecting each sub-projected image.

[0024] Based on the above technical solution, each sub-projection image includes the identification information of the vehicle projecting each sub-projection image. The pose adjustment information of the first vehicle can be obtained based on the first image information. Furthermore, based on the sub-projection images projected by the first vehicle, a correspondence between the identification information of the first vehicle and the pose adjustment information of the first vehicle is added to the first broadcast message. This allows the first vehicle to obtain its pose adjustment information from the first broadcast message based on its identification information after receiving the first broadcast message.

[0025] By sending the correspondence between the identification information of at least one vehicle and the pose adjustment information of at least one vehicle, the signaling overhead of the vehicle sending the first broadcast message can be saved.

[0026] In some possible implementations, controlling the first vehicle to adjust its pose based on the first image information and the first distance between the first vehicle and the second vehicle includes: sending a first unicast message based on the first image information and the first distance, the first unicast message including a first instruction, the first instruction including the pose adjustment information of the first vehicle.

[0027] Based on the above technical solution, a first unicast message can be sent to the first vehicle. This means that the first vehicle only needs to carry the pose adjustment information of the first vehicle in the first unicast message, so that the first vehicle can adjust its pose based on the pose adjustment information after receiving the first unicast message.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, controlling the first vehicle to adjust its pose based on the first image information and the first distance between the first vehicle and the second vehicle includes: determining the pose adjustment information of the first vehicle based on the first image information and the first distance; and controlling the first vehicle to adjust its pose based on the pose adjustment information of the first vehicle.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling at least some of the vehicles among a plurality of vehicles to adjust the projection parameters of the intelligent headlights based on the first image information; wherein the projection parameters include one or more of the following: projection brightness, projection distortion, or projection image window.

[0030] Based on the above technical solution, in addition to controlling the first vehicle to adjust its posture, it is also possible to control at least some of the multiple vehicles to adjust the projection parameters of their intelligent headlights. This helps to further improve the projection effect of the images projected from multiple vehicles, thereby enhancing the user's visual experience.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring the image to be projected; segmenting the image to be projected to obtain multiple sub-projected images, the multiple sub-projected images including a first sub-projected image and a second sub-projected image, the first sub-projected image being the image to be projected for the first vehicle, and the second sub-projected image being the image to be projected for the second vehicle; controlling the intelligent headlights of the first vehicle to project the first sub-projected image and controlling the intelligent headlights of the second vehicle to project the second sub-projected image.

[0032] Based on the above technical solution, by segmenting the image to be projected, a first sub-projection image corresponding to the first vehicle and a second sub-projection image corresponding to the second vehicle can be obtained, thereby enabling control of the intelligent headlight projection of the first vehicle and the second vehicle and their corresponding sub-projection images.

[0033] In some possible implementations, the image to be projected is segmented, including: segmenting the image to be projected based on the projection effect.

[0034] In conjunction with the first aspect, in some implementations of the first aspect, the first sub-projection screen and the second sub-projection screen are associated with first index information, and the intelligent headlights of the first vehicle are controlled to project the first sub-projection screen and the intelligent headlights of the second vehicle are controlled to project the second sub-projection screen, including: according to the first index information, controlling the intelligent headlights of the first vehicle to project the first sub-projection screen and controlling the intelligent headlights of the second vehicle to project the second sub-projection screen.

[0035] Based on the above technical solution, the first sub-projection screen and the second sub-projection screen are associated with the first index information. By controlling the intelligent headlights of the first vehicle and the second vehicle to project their corresponding sub-projection screens according to the first index information, the consistency of the projection time and projection order when the first vehicle and the second vehicle project their respective sub-projection screens can be guaranteed, avoiding the problem of disordered images to be projected.

[0036] In some possible implementations, taking the method being executed by a second vehicle as an example, the method includes: during the process of controlling the intelligent headlights of the second vehicle to project a second sub-projection image, sending the first index information to the first vehicle, so that the first vehicle controls the intelligent headlights to project a first sub-projection image according to the first index information.

[0037] Secondly, this application provides a platoon projection device, which includes: an acquisition unit for acquiring first image information, the first image information including projected images of the intelligent headlights of multiple vehicles, the multiple vehicles being vehicles for platoon projection of the image to be projected, the multiple vehicles including at least a first vehicle and a second vehicle; and a control unit for controlling the first vehicle to adjust its posture according to the first image information and a first distance between the first vehicle and the second vehicle, so as to change the relative positional relationship between the projection position of the intelligent headlights of the first vehicle and the projection position of the intelligent headlights of the second vehicle, the first distance being real-time data collected by the first vehicle and / or the second vehicle.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to acquire second image information and a second distance between the first vehicle and the second vehicle, the second image information including another projected image of the intelligent headlights of multiple vehicles after the first vehicle adjusts its posture; the control unit is further configured to control the first vehicle to adjust its posture based on the second image information and the second distance; wherein the difference between the second image information and the target projected image is less than the difference between the first image information and the target projected image.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is used to: control the adjustment position of the intelligent headlights of the first vehicle.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to acquire the target pose of the first vehicle based on the first image information and the first spacing; the acquisition unit is also used to acquire the first pose adjustment path of the first vehicle based on the target pose and the first collision risk between the first vehicle and surrounding obstacles; the control unit is used to control the first vehicle to adjust its pose based on the first pose adjustment path.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to acquire a second collision risk between the first vehicle and surrounding obstacles during the process of the control unit controlling the first vehicle to adjust its posture; the control unit is also used to control the first vehicle to stop when the second collision risk meets preset conditions, and the acquisition unit is also used to acquire third image information, which includes projected images of the intelligent headlights of multiple vehicles after the first vehicle stops; the control unit is also used to control the second vehicle to adjust its posture based on the third image information.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is configured to: control the sending unit to send a first instruction based on the first image information and the first spacing, the first instruction being used to instruct the first vehicle to adjust its posture.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is configured to: control the sending unit to send a first broadcast message, the first broadcast message including a first instruction, the first instruction including the identification information of the first vehicle and the position adjustment information of the first vehicle.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the first image information includes multiple sub-projected images, each of the multiple sub-projected images including identification information of the vehicle projecting each sub-projected image, wherein the control unit is configured to: control the sending unit to send a first broadcast message based on the identification information of the vehicle projecting each sub-projected image.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes: a determining unit, configured to determine the pose adjustment information of the first vehicle based on the first image information and the first spacing; and a controlling unit, configured to control the first vehicle to adjust its pose based on the pose adjustment information of the first vehicle.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is further configured to control at least some of the vehicles among a plurality of vehicles to adjust the projection parameters of the intelligent headlights based on the first image information; wherein the projection parameters include one or more of the following: projection brightness, projection distortion, or projection image window.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a screen segmentation unit and an acquisition unit, which are also used to acquire the screen to be projected; the screen segmentation unit is used to segment the screen to be projected to obtain multiple sub-projection screens, the multiple sub-projection screens including a first sub-projection screen and a second sub-projection screen, the first sub-projection screen being the screen to be projected for the first vehicle, and the second sub-projection screen being the screen to be projected for the second vehicle; the control unit is also used to control the intelligent headlights of the first vehicle to project the first sub-projection screen and control the intelligent headlights of the second vehicle to project the second sub-projection screen.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the first sub-projection screen and the second sub-projection screen are associated with first index information. The control unit is used to: control the intelligent headlights of the first vehicle to project the first sub-projection screen and control the intelligent headlights of the second vehicle to project the second sub-projection screen according to the first index information.

[0049] Thirdly, this application provides a team projection device, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0050] In conjunction with the third aspect, in some implementations of the third aspect, the group projection device also includes a memory.

[0051] Fourthly, this application provides a group projection system, which includes intelligent headlights and a computing platform, the computing platform including the device described in the second or third aspect above.

[0052] Fifthly, this application provides a vehicle that includes the means as described in any of the possible implementations of the second or third aspect, or the vehicle that includes the system described in the fourth aspect.

[0053] Sixthly, this application provides a server that includes the means described in any of the possible implementations of the second or third aspect.

[0054] In a seventh aspect, this application provides a computer program product comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0055] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0056] Eighthly, this application provides a computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0057] In a ninth aspect, a chip is provided that includes circuitry for performing the methods in any possible implementation of the first aspect described above. Attached Figure Description

[0058] Figure 1 is a functional block diagram of the vehicle provided in the application embodiment.

[0059] Figure 2 is a schematic flowchart of the team projection method provided in the embodiments of this application.

[0060] Figure 3 is a schematic diagram of a team projection scenario provided in an embodiment of this application.

[0061] Figure 4 is another schematic flowchart of the team projection method provided in the embodiments of this application.

[0062] Figure 5 is a human-machine interface (HMI) provided in an embodiment of this application.

[0063] Figure 6 shows another HMI provided in an embodiment of this application.

[0064] Figure 7 is a schematic diagram of the projected images of the intelligent headlights of vehicles 1-4 provided in the embodiments of this application.

[0065] Figure 8 is another schematic diagram of the projected image of the intelligent headlights of vehicles 1-4 provided in the embodiments of this application.

[0066] Figure 9 is another schematic flowchart of the team projection method provided in the embodiments of this application.

[0067] Figure 10 is a schematic diagram of the sub-projection screens 1-4 obtained by dividing the projection screen 1 according to an embodiment of this application.

[0068] Figure 11 is a schematic diagram of the system architecture provided in an embodiment of this application.

[0069] Figure 12 is another schematic flowchart of the team projection method provided in the embodiments of this application.

[0070] Figure 13 is a schematic block diagram of the team projection device provided in this application. Detailed Implementation

[0071] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0072] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include intelligent headlights 110, a sensing system 120, a display device 130, a communication system 140, and a computing platform 150.

[0073] For example, the intelligent headlight 110 can be a digital light processing (DLP) projection headlight.

[0074] The perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system, or another positioning system. As another example, the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0075] The display devices 130 in the vehicle's cabin 100 are mainly divided into two categories: the first is in-vehicle displays; the second is projection displays, such as head-up displays (HUDs). In-vehicle displays are physical displays and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. Head-up displays, also known as head-up display systems, are mainly used to display driving information such as speed and navigation on a display device in front of the driver (e.g., the windshield). This reduces the driver's eye-shifting time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems.

[0076] The communication system 140 of vehicle 100 may be one or more devices integrating at least one communication processing module. The communication system 140 can transmit and receive electromagnetic waves through an antenna, enabling vehicle 100 to communicate with other electronic devices (such as electronic devices associated with vehicle 100), cloud servers, etc., via wireless communication technology. The wireless communication technology may include mobile communication technologies such as Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), General Packet Radio Service (GPRS), or Long Term Evolution (LTE), or short-range wireless communication technologies such as Bluetooth (BT) and Radio Frequency Identification (RFID).

[0077] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit 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 circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. 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 addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0078] Vehicle 100 may include an advanced driving assistance system (ADAS). ADAS utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0079] Logically, an ADAS system generally includes three main functional modules: a perception module, a decision-making module, and an execution module. The perception module senses the environment around the vehicle through sensors and inputs corresponding real-time data to the decision-making processing center. The perception module mainly includes vehicle cameras, ultrasonic radar, millimeter-wave radar, and lidar. The decision-making module makes corresponding decisions based on the information obtained by the perception module using computing devices and algorithms. After receiving the decision signal from the decision-making module, the execution module takes corresponding actions, such as driving, changing lanes, steering, braking, and issuing warnings.

[0080] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The aforementioned autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. At levels L4 and L5, the driver can completely transform into a passenger. Currently, the functions that ADAS can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the various functions mentioned above can have specific modes at different levels of autonomous driving (L0-L5), with higher levels of autonomous driving corresponding to more intelligent modes. For example, automatic parking can include APA, RPA, and AVP. With APA, the driver does not need to operate the steering wheel but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP, the vehicle can park without a driver. In terms of corresponding autonomous driving levels, APA is approximately at Level 1, RPA is approximately at Level 2-L3, and AVP is approximately at Level 4.

[0081] The intelligent driving devices involved in the embodiments of this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, intelligent driving devices may be vehicles, which are vehicles in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0082] As mentioned earlier, the current use of intelligent headlights in vehicles generally involves pre-installing pre-made video projection resources. Users can choose different resources to use the intelligent headlights for greetings, slideshows, and message prompts in different scenario modes. However, currently, users can only project simple projection resources through the intelligent headlights of a single vehicle, which cannot meet users' needs for projecting more complex projection resources.

[0083] In this embodiment of the application, by acquiring first image information including the projected images of the intelligent headlights of multiple vehicles and the distance between the first vehicle and the second vehicle among the multiple vehicles, the pose of the first vehicle can be adjusted, thereby enabling the projected images of multiple vehicles to be better stitched together, which helps to improve the viewing effect when users watch complex projection resources through multiple vehicles, thus helping to improve the user's visual experience.

[0084] Figure 2 shows a schematic flowchart of the platooning projection method 200 provided in an embodiment of this application. The method 200 can be executed by a server; or, the method 200 can be executed by any one of multiple vehicles (e.g., the master vehicle or a backup vehicle among multiple vehicles); or, the method 200 can be executed by a computing platform in the vehicle; or, the method 200 can be executed by a processor, chip, or circuit in the computing platform. The method 200 includes:

[0085] S210, acquire first image information, the first image information includes projected images of the intelligent headlights of multiple vehicles, the multiple vehicles are vehicles that project images to be projected in a group, and the multiple vehicles include at least the first vehicle and the second vehicle.

[0086] In this embodiment, the projected image can be an image projected before multiple vehicles are grouped together for projection. The purpose of this projected image is to adjust the poses of at least some of the vehicles, allowing the projected images of the multiple vehicles to be better stitched together. After adjusting the poses of at least some vehicles using the projected image, the multiple vehicles in the grouped projection can each project their own image, and the projected images of each vehicle together form the image to be projected. For example, the image to be projected can be a giant screen video resource.

[0087] Optionally, the method 200 can be performed by a second vehicle to obtain first image information, including: obtaining first image information captured by a camera outside the cockpit of the second vehicle.

[0088] Optionally, the method 200 can be executed by a server to obtain first image information, including: obtaining first image information captured by a camera outside the cockpit of any one of the multiple vehicles.

[0089] Optionally, taking the method 200 being executed by the second vehicle as an example, before acquiring the first image information, the method 200 further includes: the second vehicle sending a third broadcast message via near-field communication technology, the third broadcast message being used to invite vehicles that receive the third broadcast message to perform platoon projection; and receiving a response message sent by the first vehicle, the response message indicating that the first vehicle agrees to the invitation to platoon projection.

[0090] For example, the near-field communication technology includes Bluetooth, Wi-Fi, or Starflash.

[0091] S220, based on the first image information and the first distance between the first vehicle and the second vehicle, control the first vehicle to adjust its posture to change the relative positional relationship between the projection position of the intelligent headlight of the first vehicle and the projection position of the intelligent headlight of the second vehicle. The first distance is real-time data collected by the first vehicle and / or the second vehicle.

[0092] In this embodiment, by using the first image information and the distance between the first and second vehicles, the first vehicle can be controlled to adjust its posture, thereby changing the relative positional relationship between the projection positions of the first vehicle's intelligent headlights and the second vehicle's intelligent headlights. This ensures a better stitching effect between the projected images of the first and second vehicles, improving the viewing experience when multiple vehicles project images, thus enhancing the user's visual experience. Simultaneously, by considering the distance between the first and second vehicles, a safe distance can be maintained between the first and second vehicles during the posture adjustment process, avoiding the risk of collision between them.

[0093] The above-mentioned group projection method 200 can be executed by the vehicle. Through the control of the vehicle itself or the control of other vehicles, the projection images of the intelligent headlights of multiple vehicles can be spliced ​​and combined, which helps to improve the intelligence level of the vehicle.

[0094] Optionally, the method 200 further includes: acquiring second image information and a second distance between the first vehicle and the second vehicle, the second image information including another projected image of the intelligent headlights of multiple vehicles after the first vehicle adjusts its posture; controlling the first vehicle to adjust its posture according to the second image information and the second distance; wherein the difference between the second image information and the target projected image is smaller than the difference between the first image information and the target projected image.

[0095] For example, the target projection image is a projection image stitched together from the projection images of the first vehicle and the second vehicle.

[0096] In this embodiment, after the first vehicle adjusts its pose, projected images of multiple vehicles and the distance between the first and second vehicles can be acquired. This allows for continued pose adjustment of the first vehicle based on the second image information and the distance between the first and second vehicles if the stitching effect of the projected images from the first and second vehicles does not meet expectations. Through multiple pose adjustments, the stitching effect of the projected images from the first and second vehicles can be ensured to better meet expectations, improving the viewing experience for users when projecting images from multiple vehicles, thus enhancing the user's visual experience.

[0097] For example, Figure 3 illustrates a schematic diagram of a group projection scenario provided in an embodiment of this application. As shown in Figure 3, vehicle 1 and vehicle 2 are currently performing group projection. Vehicle 1 can acquire image 1 through a camera outside the cockpit, which includes projected images of the intelligent headlights of vehicle 1 and vehicle 2. For example, the distance between vehicle 1 and vehicle 2 is L1, and the distance between the projected image of vehicle 1 and the projected image of vehicle 2 is L2. Vehicle 1 can adjust its pose according to the distance L2 between the projected images and the distance L1 between vehicle 1 and vehicle 2, so that the projected image of vehicle 1 and the projected image of vehicle 2 can be stitched together after vehicle 1 adjusts its pose.

[0098] Alternatively, vehicle 1 can send instruction 1 to vehicle 2 based on the spacing L2 between the projected images and the spacing L1 between vehicle 1 and vehicle 2. Instruction 1 includes pose adjustment information for vehicle 2. In response to receiving instruction 1, vehicle 2 can adjust its pose so that the projected image of vehicle 2 after the pose adjustment can be stitched together with the projected image of vehicle 1.

[0099] Alternatively, vehicle 1 can adjust its pose based on the spacing L2 between the projected images and the spacing L1 between vehicle 1 and vehicle 2, and send instruction 2 to vehicle 2. Instruction 2 includes the pose adjustment information of vehicle 2. In response to receiving instruction 2, vehicle 2 can adjust its pose so that the projected images of vehicle 1 and vehicle 2 after the pose adjustment can be stitched together.

[0100] Optionally, controlling the first vehicle to adjust its posture includes controlling the intelligent headlights of the first vehicle to adjust their posture.

[0101] For example, with the position of the intelligent headlights of the first vehicle fixed, the position of the vehicle can be adjusted, which can ultimately adjust the projection position of the first vehicle to achieve a splicing combination of the projection positions of the second vehicle.

[0102] For example, when the position of the intelligent headlights of the first vehicle is not fixed, the position of the intelligent headlights of the first vehicle can be adjusted. In this way, without adjusting the position of the vehicle, the projection positions of the first vehicle and the second vehicle can be combined, which also helps to improve the efficiency when adjusting the projection position of the first vehicle.

[0103] Optionally, controlling the first vehicle to adjust its posture includes: adjusting the posture of the intelligent headlights of the first vehicle according to the first image information; acquiring fourth image information, which is a projection image of the intelligent headlights of multiple vehicles after the posture of the intelligent headlights of the first vehicle is adjusted; and controlling the first vehicle to adjust its posture according to the fourth image and the distance between the first vehicle and the second vehicle.

[0104] In this embodiment, the pose of the intelligent headlights of the first vehicle can be adjusted first. After adjusting the pose of the intelligent headlights, the pose of the first vehicle can be adjusted again. This reduces the movement path of the first vehicle when adjusting its projection position, thus improving the efficiency of adjusting the projection position of the first vehicle.

[0105] Optionally, controlling the first vehicle to adjust its pose based on the first image information and the first distance between the first vehicle and the second vehicle includes: obtaining the target pose of the first vehicle based on the first image information and the first distance; obtaining the first pose adjustment path of the first vehicle based on the target pose and the first collision risk between the first vehicle and surrounding obstacles; and controlling the first vehicle to adjust its pose based on the first pose adjustment path.

[0106] In this embodiment, the target pose of the first vehicle can be obtained based on the first image information and the first spacing. When planning the pose adjustment path of the first vehicle, the collision risk between the first vehicle and surrounding obstacles can be considered in the planning of the first pose adjustment path. In this way, the risk of collision between the first vehicle and surrounding obstacles during pose adjustment can be avoided, and the pose adjustment of the first vehicle can be achieved while ensuring safety.

[0107] Optionally, the method 200 further includes: obtaining speed information of one or more path points on the first posture adjustment path based on the first collision risk between the first vehicle and surrounding obstacles; wherein, controlling the first vehicle to adjust its posture based on the first posture adjustment path includes: controlling the first vehicle to adjust its posture based on the first posture adjustment path and the speed information.

[0108] Optionally, the method 200 further includes: obtaining the pose adjustment paths of at least some of the vehicles other than the first vehicle; and determining the first pose adjustment path of the first vehicle based on the target pose and the pose adjustment paths of the at least some vehicles.

[0109] Optionally, the method 200 further includes: during the process of controlling the first vehicle to adjust its posture, obtaining a second collision risk between the first vehicle and surrounding obstacles; when the second collision risk meets preset conditions, controlling the first vehicle to stop and obtaining third image information, the third image information including projected images of the intelligent headlights of multiple vehicles after the first vehicle stops; and controlling the second vehicle to adjust its posture based on the third image information.

[0110] In this embodiment, the collision risk between the first vehicle and surrounding obstacles can be acquired in real time during the first vehicle's posture adjustment process. When the collision risk meets preset conditions, the first vehicle can be controlled to stop, and projection images of multiple vehicles after the first vehicle stops can be acquired. Based on these projection images, the second vehicle can be controlled to adjust its posture. Thus, if a collision risk occurs during the first vehicle's posture adjustment process, the first vehicle can be controlled to stop, and the second vehicle can be controlled to adjust its posture. While ensuring safety, the projection images of the first and second vehicles can be better stitched together, which helps to meet vehicle safety and user visual experience requirements.

[0111] The collision risk between the first vehicle and surrounding obstacles can be characterized by the collision time TTC between the first vehicle and surrounding obstacles.

[0112] Optionally, controlling the second vehicle to adjust its posture based on the third image information includes: controlling the second vehicle to adjust its posture based on the third image information and the distance between the first vehicle and the second vehicle.

[0113] Optionally, during the process of adjusting the position of vehicle 1, the distance between vehicle 1 and other obstacles (e.g., walls, stone blocks, etc.) can be taken into account to ensure that vehicle 1 maintains a safe distance from other obstacles and avoid the risk of collision between vehicle 1 and other obstacles.

[0114] In this embodiment, different spacing between projected images can correspond to different vehicle spacings. For example, in the scenario shown in Figure 3, when the spacing between vehicle 1 and vehicle 2 is L1, the spacing between the projected images of vehicle 1 and vehicle 2 is L2; ​​while when the spacing between vehicle 1 and vehicle 2 is L3, the spacing between the projected images of vehicle 1 and vehicle 2 is 0. Thus, by controlling vehicle 1 to move L1-L3 closer to vehicle 2, or by sending instruction 1 to vehicle 2 (instruction 1 instructing vehicle 2 to move L1-L3 closer to vehicle 1), or by controlling vehicle 1 to move (L1-L3) / 2 closer to vehicle 2 and sending instruction 2 to vehicle 2 (instruction 2 instructing vehicle 2 to move (L1-L3) / 2 closer to vehicle 1), the projected images of vehicle 1 and vehicle 2 can be stitched together (or there can be no spacing between the projected images of vehicle 1 and vehicle 2), ensuring that the projected image seen by the end user is complete (or, there is no segmentation), which helps improve the user's viewing effect of the projected image and enhances the user's visual experience.

[0115] In this embodiment of the application, considering that the spacing between vehicles may affect the splicing effect between the projected images of each vehicle, by analyzing the first image information and the spacing between the first vehicle and the second vehicle, the pose of the first vehicle can be adjusted so that the splicing effect between the projected images of the first vehicle and the second vehicle is better, which helps to ensure the projection effect of the projected images of multiple vehicles, thereby helping to improve the user's visual experience.

[0116] The correspondence between the spacing between the vehicles and the spacing between the projected images can be pre-calibrated or calculated in real time.

[0117] Optionally, based on the first image information and the first distance between the first vehicle and the second vehicle, controlling the first vehicle to adjust its posture includes: when the distance between the first vehicle and the second vehicle is less than or equal to a preset distance and the stitching effect of the projected image of the first vehicle and the projected image of the second vehicle does not meet the preset conditions, controlling the distance between the first vehicle and the second vehicle to remain at the preset distance and controlling the projection parameters of the first vehicle and / or the second vehicle to be adjusted.

[0118] For example, taking the scenario shown in Figure 3, if the distance (L1-L3) between vehicle 1 and vehicle 2 is less than or equal to a preset distance ΔT, then vehicle 1 can be controlled to move closer to vehicle 2 (L1-ΔT) to maintain the distance between vehicle 1 and vehicle 2 at ΔT, thus avoiding the risk of collision between vehicle 1 and vehicle 2. When the distance between vehicle 1 and vehicle 2 is ΔT, the distance between the projected images of vehicle 1 and vehicle 2 is L4. At this time, the projection parameters of vehicle 1 and / or vehicle 2 can be adjusted to make the distance between the projected images of vehicle 1 and vehicle 2 zero. For example, the projection area of ​​both vehicle 1 and vehicle 2 can be increased to make the distance between the projected images of vehicle 1 and vehicle 2 zero, thereby ensuring the stitching effect of the projected images of vehicle 1 and vehicle 2. For example, the projection area of ​​vehicle 1 and the projection area of ​​vehicle 2 can be increased in the horizontal direction so that the spacing between the projection images of vehicle 1 and vehicle 2 is 0, thereby ensuring the stitching effect of the projection images of vehicle 1 and vehicle 2.

[0119] Optionally, controlling the first vehicle to adjust its posture based on the first image information and the first distance between the first vehicle and the second vehicle includes: sending a first instruction based on the first image information and the first distance, wherein the first instruction is used to instruct the first vehicle to adjust its posture.

[0120] In this embodiment of the application, taking the method 200 executed by a vehicle as an example, a first command can be sent using the first image information and the distance between the first vehicle and the second vehicle, thereby instructing the first vehicle to adjust its pose. In this way, the pose of the first vehicle can be adjusted through interaction between the vehicles.

[0121] Optionally, sending a first instruction includes: sending a first broadcast message, the first broadcast message including the first instruction, the first instruction including the identification information of the first vehicle and the position adjustment information of the first vehicle.

[0122] In this embodiment of the application, taking the method 200 executed by a vehicle as an example, a first broadcast message can be sent using the first image information and the distance between the first vehicle and the second vehicle. The first broadcast message includes the identification information of the first vehicle and the pose adjustment information of the first vehicle. In this way, after receiving the first broadcast message, the first vehicle can obtain the pose adjustment information of the first vehicle from the first broadcast message based on the identification information of the first vehicle, thereby controlling the first vehicle to perform pose adjustment.

[0123] Optionally, the first instruction includes a correspondence between identification information of at least one vehicle and pose adjustment information of at least one vehicle, wherein the at least one vehicle includes the first vehicle. Thus, after receiving the first broadcast message, the first vehicle can obtain its pose adjustment information from the first broadcast message based on its identification information, thereby enabling the first vehicle to adjust its pose.

[0124] Optionally, the first image information includes multiple sub-projected images, each of the multiple sub-projected images including identification information of the vehicle projecting each sub-projected image, wherein sending the first broadcast message includes: sending the first broadcast message according to the identification information of the vehicle projecting each sub-projected image.

[0125] In this embodiment of the application, each sub-projection image includes identification information of the vehicle projecting each sub-projection image. The pose adjustment information of the first vehicle can be obtained based on the first image information and the distance between the first vehicle and the second vehicle. The correspondence between the identification information of the first vehicle and the pose adjustment information of the first vehicle is added to the first broadcast message based on the sub-projection image projected by the first vehicle, so that after receiving the first broadcast message, the first vehicle can obtain the pose adjustment information of the first vehicle from the first broadcast message based on the identification information of the first vehicle.

[0126] By sending the correspondence between the identification information of at least one vehicle and the pose adjustment information of at least one vehicle, the signaling overhead of the vehicle sending the first broadcast message can be saved.

[0127] For example, taking method 200 as being executed by a second vehicle, the plurality of vehicles also includes a third vehicle. When the second vehicle determines that the poses of the first vehicle and the third vehicle need to be adjusted based on the first image information, the distance between the first vehicle and the second vehicle, and the distance between the second vehicle and the third vehicle, the first vehicle can send a first broadcast message. The first broadcast message includes the correspondence between the identification information of the first vehicle and the pose adjustment information of the first vehicle, as well as the correspondence between the identification information of the third vehicle and the pose adjustment information of the third vehicle.

[0128] For example, Table 1 shows the content of the first broadcast message.

[0129] Table 1

[0130] Thus, after the first vehicle receives the first broadcast message, it can obtain the pose adjustment information of the first vehicle from the first broadcast message based on the first vehicle's identification information, and thus the first vehicle can adjust its pose according to the pose adjustment information. After the third vehicle receives the first broadcast message, it can obtain the pose adjustment information of the third vehicle from the first broadcast message based on the third vehicle's identification information, and thus the third vehicle can adjust its pose according to the pose adjustment information.

[0131] Optionally, controlling the first vehicle to adjust its pose based on the first image information and the first distance between the first vehicle and the second vehicle includes: sending a first unicast message based on the first image information and the first distance, the first unicast message including a first instruction, the first instruction including the pose adjustment information of the first vehicle.

[0132] In this embodiment of the application, a first unicast message can be sent to the first vehicle. This way, as long as the first unicast message carries the pose adjustment information of the first vehicle, the first vehicle can adjust its pose based on the pose adjustment information after receiving the first unicast message.

[0133] For example, taking the scenario shown in Figure 3, vehicle 1 and vehicle 2 can establish a communication connection, such as a Bluetooth connection. Vehicle 1 can obtain the Bluetooth address of vehicle 2. When vehicle 1 determines that it needs to adjust the pose of vehicle 2, it can send a unicast message to vehicle 2 based on vehicle 2's Bluetooth address. This unicast message can include the pose adjustment information of vehicle 2.

[0134] Optionally, controlling the first vehicle to adjust its pose based on the first image information and the first distance between the first vehicle and the second vehicle includes: determining pose adjustment information of the first vehicle based on the first image information and the first distance; and controlling the first vehicle to adjust its pose based on the pose adjustment information of the first vehicle.

[0135] For example, taking method 200 executed by vehicle 1 as shown in Figure 3 above, vehicle 1 can determine its pose adjustment information (e.g., adjusting L1-L3 towards vehicle 2) based on image 1 and the distance between vehicle 1 and vehicle 2. Based on this pose adjustment information, vehicle 1 can control its pose adjustment to change the relative positional relationship between the projected positions of the intelligent headlights of vehicle 1 and vehicle 2, ensuring that the projected positions can be stitched together.

[0136] Optionally, the method 200 further includes: controlling at least some of the vehicles among the multiple vehicles to adjust the projection parameters of the intelligent headlights according to the first image information; wherein the projection parameters include one or more of the following: projection brightness, projection distortion, or projection image window.

[0137] In this embodiment, in addition to controlling the first vehicle to adjust its posture, at least some of the multiple vehicles can also be controlled to adjust the projection parameters of their intelligent headlights. This helps to further improve the projection effect of the images projected from multiple vehicles, thereby enhancing the user's visual experience.

[0138] For example, consider the scenario shown in Figure 3. Vehicle 1 can determine from Image 1 that the projected brightness of Vehicle 1 is different from that of Vehicle 2. In this case, Vehicle 1 can adjust its projected brightness so that the difference between the adjusted projected brightness of Vehicle 1 and Vehicle 2 is less than or equal to a preset brightness value. Alternatively, Vehicle 1 can send instruction 3 to Vehicle 2, which includes information on adjusting the projected brightness of Vehicle 2. Upon receiving instruction 3, Vehicle 2 can adjust its projected brightness so that the difference between the adjusted projected brightness of Vehicle 2 and that of Vehicle 1 is less than or equal to a preset brightness value.

[0139] Optionally, the method 200 further includes: acquiring a screen to be projected; segmenting the screen to be projected to obtain multiple sub-projected screens, the multiple sub-projected screens including a first sub-projected screen and a second sub-projected screen, the first sub-projected screen being the screen to be projected for the first vehicle, the second sub-projected screen being the screen to be projected for the second vehicle; controlling the intelligent headlights of the first vehicle to project the first sub-projected screen and controlling the intelligent headlights of the second vehicle to project the second sub-projected screen.

[0140] Optionally, the projection screen to be projected can be segmented to obtain multiple sub-projection screens, including: segmenting the projection screen to be projected based on the projection effect input by the user.

[0141] In this embodiment of the application, by segmenting the image to be projected, a first sub-projection image corresponding to the first vehicle and a second sub-projection image corresponding to the second vehicle can be obtained, thereby enabling control of the intelligent headlight projection of the first vehicle and the second vehicle and their corresponding sub-projection images.

[0142] Optionally, the first sub-projection screen and the second sub-projection screen are associated with the first index information. Controlling the smart headlights of the first vehicle to project the first sub-projection screen and controlling the smart headlights of the second vehicle to project the second sub-projection screen includes: according to the first index information, controlling the smart headlights of the first vehicle to project the first sub-projection screen and controlling the smart headlights of the second vehicle to project the second sub-projection screen.

[0143] In this embodiment, the first sub-projection screen and the second sub-projection screen are associated with first index information. By controlling the intelligent headlights of the first vehicle and the second vehicle to project their corresponding sub-projection screens according to the first index information, the consistency of the projection time and projection order of the first vehicle and the second vehicle when projecting their respective sub-projection screens can be ensured, thus avoiding the problem of disordered images to be projected.

[0144] For example, a frame of the image to be projected is divided into image a and image b. The first sub-projection screen includes image a, and the second sub-projection screen includes image b. Image a and image b are associated with index 1. Image a and image b need to be projected simultaneously to ensure consistency in projection time and order between the first vehicle and the second vehicle, and also to ensure that the final projected image seen by the user is not a distorted image. Taking method 200 executed by the server as an example, the server can simultaneously send instruction 4 to vehicle 1 and vehicle 2. Instruction 4 includes index 1. In response to receiving instruction 4, vehicle 1 can control the intelligent headlights to project image a, and vehicle 2 can control the intelligent headlights to project image b. In this way, it can be ensured that vehicle 1 and vehicle 2 project image a and image b at the same time.

[0145] Optionally, taking the method 200 being executed by the second vehicle as an example, the method 200 includes: during the process of controlling the intelligent headlights of the second vehicle to project the second sub-projection image, sending the first index information to the first vehicle, so that the first vehicle controls the intelligent headlights to project the first sub-projection image according to the first index information.

[0146] For example, a frame of the image to be projected is segmented into image a and image b. When vehicle 1 controls the intelligent headlights to project image a, vehicle 1 can send instruction 5 to vehicle 2, which includes index 1. In response to receiving instruction 5, vehicle 2 can control the intelligent headlights to project image b. With negligible interaction delay between vehicle 1 and vehicle 2, it can be guaranteed that vehicle 1 and vehicle 2 project image a and image b simultaneously.

[0147] Figure 4 shows a schematic flowchart of the platooning projection method 400 provided in an embodiment of this application. The method 400 can be executed by a master vehicle and a backup vehicle. The method 400 includes:

[0148] S410, the main vehicle publishes team projection control themes through near field communication technology.

[0149] For example, the master vehicle in a platoon projection convoy can be vehicle 1, or vehicle 1 can be the vehicle that publishes the platoon projection control topic.

[0150] Optionally, vehicle 1 sends the team projection control theme via near-field communication technology, including: vehicle 1 sending the team projection control theme via Bluetooth, StarFlash, or Wi-Fi hotspot.

[0151] Optionally, vehicle 1 sends a platooning projection control topic via near-field communication technology, including: vehicle 1 initiating a local message queuing telemetry transport (MQTT) service and sending a platooning projection invitation to surrounding vehicles via near-field communication technology.

[0152] For example, Figure 5 illustrates a human-machine interface (HMI) provided in an embodiment of this application. In response to detecting a user issuing a voice command "Send a group projection invitation," vehicle 1 can display a prompt box 501 on the central control screen. The prompt box 501 includes the prompt message "Send a group projection invitation to surrounding vehicles?", a confirmation control 502, and a cancellation control 503. In response to the user clicking the control 502, vehicle 1 can send a broadcast message a, which invites other vehicles to join the group projection. For example, this broadcast message includes the aforementioned group projection control topic.

[0153] S420, in response to detecting a group projection control theme published by the main vehicle, the standby vehicle control prompt device prompts the user to accept the group projection invitation from the main vehicle.

[0154] For example, Figure 6 illustrates another HMI provided in an embodiment of this application.

[0155] Taking vehicle 2 as a standby vehicle as an example, in response to receiving the broadcast message a, vehicle 2 can display a prompt box 601 on the central control screen. The prompt box 601 includes the prompt message "Received a team projection invitation from vehicle 1. Do you agree to join the team projection?", a confirmation control 602, and a cancellation control 603. In response to the user clicking the confirmation control 602, vehicle 2 can send a response message to vehicle 1, which instructs vehicle 2 to accept vehicle 1's team projection invitation.

[0156] S430, in response to the user's confirmation command, subscribes to the group projection control theme.

[0157] Optionally, after vehicle 2 subscribes to the group projection control topic published by vehicle 1, vehicle 1 can issue group projection control commands to vehicle 2.

[0158] The above describes the process by which vehicle 2 subscribes to the platoon projection control topic published by vehicle 1. Similarly, vehicles 3 and 4 can also subscribe to the platoon projection control topic published by vehicle 1 through the same process. Vehicles 2 and 4 can also be referred to as backup vehicles in the platoon projection convoy.

[0159] For example, Table 2 shows the contents of the platooning projection control instructions issued by vehicle 1.

[0160] Table 2

[0161] Table 2 above is merely illustrative; the content of team projection control instructions may include more or fewer types of topic instructions.

[0162] After receiving the platoon projection invitation from the master vehicle, the standby vehicle can register for the MQTT service and subscribe to the aforementioned platoon projection control topic. The topic {slave} represents the standby vehicle's ID, which can be its vehicle identification number (VIN). For example, vehicle 2's VIN is cd, vehicle 3's is ef, and vehicle 4's is gh. For instance, if vehicle 1 determines that it needs to adjust the projection brightness of the intelligent headlights of vehicles 2 and 3, it can send a broadcast message b. This broadcast message b includes the subscription parameters for the projection brightness adjustment topic, which are lux / cd and lux / ef, respectively.

[0163] Optionally, the method 400 further includes: establishing a connection between the primary vehicle and the backup vehicle.

[0164] For example, after subscribing to the group projection control theme published by vehicle 1, vehicle 2 can establish a Bluetooth or Wi-Fi connection with vehicle 1.

[0165] The above S410-S430 can also be understood as the process of forming a team with the main vehicle and the backup vehicle.

[0166] S440, the main vehicle acquires image information 1.

[0167] Optionally, the method 400 further includes: vehicle 1 acquiring image information 1 captured by a camera outside the cockpit of vehicle 1.

[0168] Optionally, the method 400 further includes: vehicle 1 acquiring the image information 1 sent by any one of vehicles 2-4.

[0169] Optionally, the image information 1 includes projected images of the intelligent headlights of vehicles 1-4.

[0170] Optionally, before vehicle 1 acquires image information 1, the method 400 further includes: vehicle 1 controlling the intelligent headlights of vehicle 1 to project and sending a separate sending instruction to vehicles 2-4, the instruction being used to instruct vehicles 2-4 to control the intelligent headlights to project.

[0171] Optionally, the image information 1 includes sub-projection images 1-4, wherein the sub-projection images 1-4 respectively correspond to the projection images of the intelligent headlights of vehicles 1-4.

[0172] Optionally, each of the sub-projection images 1-4 includes identification information of the vehicle projecting each sub-projection image.

[0173] For example, Figure 7 shows a schematic diagram of the projected images of the intelligent headlights of vehicles 1-4 provided in an embodiment of this application. Sub-projection image 1 is a projected image of the intelligent headlight of vehicle 1, sub-projection image 2 is a projected image of the intelligent headlight of vehicle 2, sub-projection image 3 is a projected image of the intelligent headlight of vehicle 3, and sub-projection image 4 is a projected image of the intelligent headlight of vehicle 4. Sub-projection image 1 includes the vehicle identification number (VIN) of vehicle 1, for example, VIN ab. Sub-projection image 2 includes the VIN of vehicle 2, for example, VIN cd. Sub-projection image 3 includes the VIN of vehicle 3, for example, VIN ef. Sub-projection image 4 includes the VIN of vehicle 4, for example, VIN gh. Optionally, when vehicle 1 projects sub-projection image 1 through the intelligent headlights of vehicle 1, the VIN of vehicle 1 may not be displayed in sub-projection image 1.

[0174] S450, based on the image information 1, the main vehicle controls the main vehicle to adjust its position and / or adjust its projection parameters.

[0175] Step S450 above is an optional step. Vehicle 1 can keep its own pose unchanged, but instead send pose adjustment information to at least one of vehicles 2-4.

[0176] S460, the main vehicle sends instruction 6 based on the image information 1, which is used to instruct the standby vehicle to adjust its position.

[0177] Optionally, the main vehicle sends instruction 6 based on the image information 1, including: vehicle 1 sends instruction 6 based on the image information 1 and the distance between vehicle 1 and vehicle 2, the instruction 6 being used to instruct vehicle 2 to adjust its posture.

[0178] Based on the image information 1 and the distance between vehicle 1 and vehicle 2, vehicle 1 sends instruction 6, which can be referred to the implementation process in the above embodiment, and will not be repeated here.

[0179] Optionally, instruction 6 includes the pose adjustment parameters of the standby vehicle that requires pose adjustment.

[0180] Optionally, the main vehicle sends instruction 6 based on the image information 1, including: the main vehicle sends instruction 1 based on the image information 1 and the projection effect.

[0181] For example, the projection effect can be determined based on the user's selection. For instance, the main vehicle can control the prompting device to recommend multiple projection effects to the user based on the number of projection convoys, allowing the user to select a specific projection effect from among them.

[0182] For example, obtaining the projection effect includes: obtaining the projection effect based on the number of vehicles involved in the group projection. For example, the main vehicle can select a projection effect based on image information 1. Taking the scenario shown in Figure 7 as an example, vehicle 1 can select a projection effect consisting of a combination of upper left-lower left-upper right-lower right projection.

[0183] For example, Table 3 shows the correspondence between the number of vehicles in a platoon projection and the projection effect.

[0184] Table 3

[0185] For example, when a convoy of projection vehicles includes vehicles 1-4, vehicle 1 can control the central control screen to display a prompt message. This prompt message prompts the user to select a projection effect from the following combinations: top-left-bottom-right-bottom-right combined projection, horizontal combined projection, and vertical combined projection. For instance, in response to the user selecting the top-left-bottom-right-bottom-right combined projection, the main vehicle can send instruction 6 based on the projection effect and image information 1.

[0186] Optionally, the main vehicle sends instruction 6 based on the image information 1, including: the main vehicle sends a broadcast message c based on the image information 1, the broadcast message c including the pose adjustment parameters of the standby vehicle that needs to be adjusted.

[0187] Optionally, the method 400 further includes: the main vehicle sending an instruction 7 based on the image information 1, the instruction 7 being used to instruct at least one standby vehicle to adjust the projection parameters.

[0188] Optionally, instruction 7 includes projection parameter adjustment information for the standby vehicle that requires adjustment of projection parameters.

[0189] Optionally, the main vehicle sends instruction 7 based on the image information 1, including: the main vehicle sends instruction 7 based on the projection effect and the image information 1.

[0190] Optionally, the pose adjustment information and the projection parameter adjustment information can both be carried in a broadcast message (e.g., the broadcast message c mentioned above).

[0191] Taking the image information 1 shown in Figure 7, which includes sub-projection images 1-4, as an example, vehicle 1 can determine the pose of vehicle 2, adjust the projection distortion of vehicle 3, and adjust the projection brightness of vehicle 4 based on the sub-projection images 1-4 in image information 1.

[0192] For example, Table 4 shows the content of the group projection control topic carried in broadcast message 1 sent by vehicle 1.

[0193] Table 4

[0194] For example, consider Bluetooth communication between the primary vehicle and the backup vehicle. Vehicle 1 can send Bluetooth Low Energy (BLE) data packets to Vehicle 2, which can carry the content of the aforementioned platoon projection control command. The BLE data packet includes a Protocol Data Unit (PDU), and the content of the platoon projection control command can be carried in the service data field of the PDU, or it can be carried in the manufacturer specific data field of the PDU. For example, the payload of the service data field can include multiple bits, including expandable bits. The primary vehicle and the backup vehicle can agree on the content of a certain expandable bit to carry the content of the aforementioned platoon projection control command. For example, Vehicle 1 can encode the content of the aforementioned platoon projection control command using encoding methods such as GBK, ISO8859-1, or Unicode (e.g., UTF-8, UTF-16) and carry the encoded data on one or more expandable bits. After parsing the BLE data packet, vehicle 2 can obtain the content of the above-mentioned platoon projection control command. Therefore, vehicle 2 can adjust its position and projection frame according to its VIN and the content of the above-mentioned platoon projection control command.

[0195] For example, the calculation of the platooning projection control command from the main vehicle to the backup vehicle can be achieved by capturing real-time images through the front-view camera built into the main vehicle.

[0196] During the vehicle's position and projection parameter adjustment phase, the VIN can be carried in the projection image of each vehicle's intelligent headlights for visual recognition by the main vehicle's forward-facing camera.

[0197] The main vehicle's forward-facing camera is activated in real time to identify the details of the combined projection effect and can issue operation commands to each backup vehicle in real time.

[0198] As shown in Figure 7 above, vehicles 1-4 require a combined projection of the large screen images from the upper left to the lower left, upper right, and lower right. The current main vehicle can clearly identify and issue the following control commands through the forward-facing camera:

[0199] Instructions for vehicle 2:

[0200] (1)position / cd{X:12,Y:-10,Z:0} means that vehicle 2 moves 12 cm to the right and 10 cm to the back without the need for air suspension to be activated.

[0201] (2) wide / cd{width: -30.5, height: -25} means that the projected image of vehicle 2 is reduced by 30.5 cm in length and 25 cm in height.

[0202] The command for vehicle 3, distortion / ef{angle:-25.5}, ​​means that the distortion angle of the projected image of vehicle 3 will be reduced by 25.5 degrees to the left and right.

[0203] The command for vehicle 4 is: lux / gh{lux:-300}, which means that the brightness of the projected image of vehicle 4 will be dimmed by 300 lumens.

[0204] The above example illustrates how the standby vehicle adjusts its pose and / or projection parameters based on the content carried in the broadcast message c after the master vehicle sends a broadcast message c. However, this embodiment is not limited to this. For instance, after subscribing to the group projection control topic published by the master vehicle, vehicle 2 can also establish a connection with vehicle 1.

[0205] For example, a Wi-Fi connection can be established between vehicle 1 and vehicle 2. Vehicle 1 can send a unicast message (e.g., a User Datagram Protocol (UDP) packet) to vehicle 2 based on the image information 1. This UDP packet can carry adjustment information related to the pose and projection parameters of vehicle 2 from the aforementioned platooning projection control instructions. For example, the UDP packet includes the data portion of an IP datagram. The data portion of the IP datagram can include expandable bits. Vehicle 1 and vehicle 2 can agree on the content of certain expandable bits, which can be used to carry adjustment information related to the pose and projection parameters of vehicle 2. For example, Table 5 shows the content of the platooning projection control topic in the UDP packet sent by vehicle 1 to vehicle 2.

[0206] Table 5

[0207] For example, after parsing the UDP data packet, vehicle 2 can learn the content of the above-mentioned platoon projection control instruction for vehicle 2, so vehicle 2 can adjust its position and projection frame window according to the content of the above-mentioned platoon projection control instruction.

[0208] The UDP packets sent from vehicle 1 to vehicle 2 may also include only the payload content.

[0209] S470, the standby vehicle adjusts its position according to instruction 6.

[0210] Optionally, the method 400 further includes: the standby vehicle adjusting the projection parameters of the standby vehicle according to instruction 7.

[0211] For example, in response to receiving the broadcast message c, vehicle 2 can move 12 cm to the right and 10 cm backward, and vehicle 2 can reduce the length of the projected image by 30.5 cm and the height of the projected image by 25 cm.

[0212] For example, in response to receiving the broadcast message c, vehicle 3 can reduce the left and right angle of the projected image distortion by 25.5 degrees.

[0213] For example, in response to receiving the broadcast message c, vehicle 4 can dim the brightness of the projected image by 300 lumens.

[0214] The above steps S440-S470 can also be referred to as the stage in which the main vehicle and / or standby vehicle adjust their position and projection parameters.

[0215] After the aforementioned pose adjustment information and projection parameter adjustment information are issued, each standby vehicle makes corresponding adjustments. After the adjustment is completed, the main vehicle can perform a visual inspection through the forward-view camera. If there is still a deviation in the stitching effect of the combined projection, the above steps S440-S470 are repeated until the final stitching effect of the combined projection reaches the target effect. For example, Figure 8 shows another schematic diagram of the projected image of the intelligent headlights of vehicles 1-4 provided in the embodiment of this application. After vehicles 2-4 adjust their pose and projection parameters, the effect of a combined projection of a giant screen image from the upper left to the lower left to the upper right to the lower right can be achieved.

[0216] The above, with reference to Figure 4-8, describes the process of adjusting the pose and projection parameters of the main vehicle and the standby vehicle. The following, with reference to Figure 9, describes the process of segmenting the projected image.

[0217] Figure 9 shows a schematic flowchart of the platooning projection method 900 provided in an embodiment of this application. The method 900 can be executed by the master vehicle, the backup vehicle, or a server. The method 900 includes:

[0218] S910, acquire the projected image 1.

[0219] Optionally, acquiring the projected screen 1 includes: in response to detecting input from a user selecting the projected screen 1 from a plurality of projected screens, acquiring the projected screen 1.

[0220] S920, the projected image 1 is divided into multiple sub-projected images.

[0221] Optionally, the projected image 1 can be segmented, including: segmenting the projected image 1 according to the projection effect.

[0222] For example, taking the scenario shown in Figure 7 as an example, after dividing the projection screen 1, we can obtain sub-projection screens 1-4, where sub-projection screen 1 is the projection screen of vehicle 1, sub-projection screen 2 is the projection screen of vehicle 2, sub-projection screen 3 is the projection screen of vehicle 3, and sub-projection screen 4 is the projection screen of vehicle 4.

[0223] For example, Figure 10 shows a schematic diagram of the sub-projection images 1-4 obtained after dividing the projection image 1.

[0224] Optionally, the projected image 1 includes multiple frames of images. The method 900 further includes: segmenting each frame of the multiple frames of images to obtain segmented multiple frames of images and adding corresponding index information to the segmented multiple frames of images.

[0225] For example, the projected image 1 includes N frames, namely the first frame to the Nth frame. After segmenting the first frame, four frames are obtained, for example, images 1a, 1b, 1c, and 1d. Among them, image 1a is the image projected by vehicle 1 through the intelligent headlights at time 1, image 1b is the image projected by vehicle 2 through the intelligent headlights at time 1, image 1c is the image projected by vehicle 3 through the intelligent headlights at time 1, and image 1d is the image projected by vehicle 4 through the intelligent headlights at time 1.

[0226] For example, after segmenting the Nth frame image, four frames are obtained, such as image Na, image Nb, image Nc, and image Nd, respectively. Image Na is the image projected by vehicle 1 through the intelligent headlight at time N, image Nb is the image projected by vehicle 2 through the intelligent headlight at time N, image Nc is the image projected by vehicle 3 through the intelligent headlight at time N, and image Nd is the image projected by vehicle 4 through the intelligent headlight at time N.

[0227] S930 sends the sub-projected image and corresponding index information.

[0228] For example, the sub-projected images and corresponding tag information sent by vehicle 1 to vehicle 2 can be shown in Table 6.

[0229] Table 6

[0230] For example, the sub-projected images and corresponding tag information sent by vehicle 1 to vehicle 3 can be shown in Table 7.

[0231] Table 7

[0232] For example, the sub-projected images and corresponding tag information sent by vehicle 1 to vehicle 4 can be shown in Table 8.

[0233] Table 8

[0234] S940 sends index information during the team projection process.

[0235] Optionally, sending index information includes sending a broadcast message that includes the index information.

[0236] For example, at time 1, vehicle 1 can control the intelligent headlight projection image 1a and send broadcast message 1, which includes indication information indicating that the index information is 1. In response to receiving broadcast message 2, vehicle 2 can control the intelligent headlight projection image 1b, vehicle 3 can control the intelligent headlight projection image 1c, and vehicle 4 can control the intelligent headlight projection image 1d.

[0237] For example, at time N, vehicle 1 can control the intelligent headlight projection image Na and send a broadcast message N, which includes indication information indicating that the index information is N. In response to receiving the broadcast message N, vehicle 2 can control the intelligent headlight projection image Nb, vehicle 3 can control the intelligent headlight projection image Nc, and vehicle 4 can control the intelligent headlight projection image Nd.

[0238] Figure 11 illustrates a schematic diagram of the system architecture provided in an embodiment of this application. As shown in Figure 11, the system architecture includes a mobile phone, a projection cloud service, and vehicles. The application (APP) on the mobile phone can complete the request and status display of the lighting platooning mode. The projection cloud service can complete the management of vehicle platooning information, vehicle commands and status, audio and video resource synchronization and arrangement management, and lighting mode management. The vehicles include a command data receiving and reporting module and a mobile assisted driving module to complete the arrangement, posture adjustment, and projection resource playback of the main vehicle and backup vehicle after platooning.

[0239] For application scenarios, multiple vehicles can be used for projection onto giant screens, outdoor dance halls, and ultra-large welcome projections. The positional and orientation results of multiple vehicles in giant screen projection scenarios are mainly related to the number of vehicles involved and the required projection size. Aside from single-vehicle projection, the effect of group projection with 2-6 vehicles is shown in the table below:

[0240] Figure 12 shows a schematic flowchart of a group projection method 1200 provided in an embodiment of this application. The group projection method 1200 may include steps TR0-TR8.

[0241] TR0: It was detected that the user selected the Lighting Team Interconnection - Giant Screen Audio-Visual Mode (different sizes correspond to N vehicles) using the APP on mobile phone 1, and invited car owners 2-N vehicles to join the team. Please send it to the projection cloud service, and the projection cloud service will send the team invitation to car owner APP 2-N.

[0242] The phone number 1 above can also be the phone number of the owner of the main car in the team projection.

[0243] TR1: The car owner apps corresponding to car owners 2-N receive the team interconnection invitation from car owner 1. After the users click to agree, the team information can be displayed on the mobile phones corresponding to car owners 2-N.

[0244] TR2: After the car owner's APP corresponding to car owner 2-N detects that the user has accepted the request to join the team projection, the car owner's APP corresponding to car owner 1 receives the notification that the projection cloud service team has been successfully created, and waits for vehicle 1 (main vehicle) to complete the parking preparation.

[0245] TR3: After vehicle 1 completes its parking, the system detects that the user has clicked "confirm" and reports the location confirmation status of vehicle 1 to the projection cloud service.

[0246] TR4: The projection cloud service sequentially notifies the car owner's APP of the automatic adjustment request for the vehicle's posture 2-N, and reports it to the projection cloud service after the user clicks to confirm in sequence through the car owner's APP.

[0247] TR5: The projection cloud service sequentially sends attitude adjustment commands to the corresponding vehicles 2-N, and vehicles 2-N sequentially complete the automatic adjustment of vehicle attitude and position.

[0248] The process of the above projection cloud service sequentially sending attitude adjustment commands to the corresponding vehicles 2-N can be referred to the description in the above embodiments, and will not be repeated here.

[0249] TR6: Vehicles 2-N sequentially report their attitude adjustment results to the projection cloud service, and notify the vehicle owner's APP1 upon completion.

[0250] TR7: The car owner's APP1 can select default recommended video resources or customize relevant video resources on the mobile device, and send the relevant video resources to the projection cloud service. The projection cloud service processes the corresponding video resources according to the actual number of vehicles and segments the video resources.

[0251] TR8: The projection cloud service simultaneously distributes the 1-N segmented resources to vehicle 1-N terminals. Vehicle 1-N then projects the corresponding resource content through the intelligent headlights, achieving an outdoor ultra-wide video projection effect.

[0252] Figure 13 shows a schematic block diagram of the platoon projection device 1300 provided in this application. The device 1300 includes: an acquisition unit 1310, configured to acquire first image information, the first image information including projected images of the intelligent headlights of multiple vehicles, the multiple vehicles being vehicles for platoon projection of the image to be projected, and the multiple vehicles including at least a first vehicle and a second vehicle; and a control unit 1320, configured to control the first vehicle to adjust its posture according to the first image information and a first distance between the first vehicle and the second vehicle, thereby changing the relative positional relationship between the projected positions of the intelligent headlights of the first vehicle and the intelligent headlights of the second vehicle, the first distance being real-time data collected by the first vehicle and / or the second vehicle.

[0253] Optionally, the acquisition unit 1310 is further configured to acquire second image information and a second distance between the first vehicle and the second vehicle, the second image information including another projected image of the intelligent headlights of multiple vehicles after the first vehicle adjusts its posture; the control unit is further configured to control the first vehicle to adjust its posture according to the second image information and the second distance; wherein the difference between the second image information and the target projected image is less than the difference between the first image information and the target projected image.

[0254] Optionally, the control unit 1320 is used to: control the position adjustment of the intelligent headlights of the first vehicle.

[0255] Optionally, the acquisition unit 1310 is used to acquire the target pose of the first vehicle based on the first image information and the first spacing; the acquisition unit is also used to acquire the first pose adjustment path of the first vehicle based on the target pose and the first collision risk between the first vehicle and surrounding obstacles; the control unit 1320 is used to control the first vehicle to adjust its pose based on the first pose adjustment path.

[0256] Optionally, the acquisition unit 1310 is used to acquire a second collision risk between the first vehicle and surrounding obstacles during the process of the control unit controlling the first vehicle to adjust its posture; the control unit 1320 is also used to control the first vehicle to stop when the second collision risk meets preset conditions, and the acquisition unit is also used to acquire third image information, which includes projected images of the intelligent headlights of multiple vehicles after the first vehicle stops; the control unit 1320 is also used to control the second vehicle to adjust its posture according to the third image information.

[0257] Optionally, the control unit 1320 is configured to: control the sending unit to send a first instruction based on the first image information and the first spacing, the first instruction being used to instruct the first vehicle to adjust its posture.

[0258] Optionally, the control unit 1320 is configured to: control the sending unit to send a first broadcast message, the first broadcast message including a first instruction, the first instruction including the identification information of the first vehicle and the position adjustment information of the first vehicle.

[0259] Optionally, the first image information includes multiple sub-projected images, each of which includes identification information of the vehicle projecting each sub-projected image. The control unit 1320 is configured to: control the sending unit to send a first broadcast message based on the identification information of the vehicle projecting each sub-projected image.

[0260] Optionally, the device further includes: a determining unit, configured to determine the pose adjustment information of the first vehicle based on the first image information and the first spacing; and a control unit 1320, configured to control the first vehicle to adjust its pose based on the pose adjustment information of the first vehicle.

[0261] Optionally, the control unit 1320 is further configured to control at least some of the vehicles among a plurality of vehicles to adjust the projection parameters of the intelligent headlights based on the first image information; wherein the projection parameters include one or more of the following: projection brightness, projection distortion, or projection image window.

[0262] Optionally, the device 1300 further includes a screen segmentation unit and an acquisition unit 1310, which are also used to acquire the screen to be projected; the screen segmentation unit is used to segment the screen to be projected to obtain multiple sub-projection screens, the multiple sub-projection screens including a first sub-projection screen and a second sub-projection screen, the first sub-projection screen being the screen to be projected for the first vehicle, and the second sub-projection screen being the screen to be projected for the second vehicle; the control unit is also used to control the intelligent headlights of the first vehicle to project the first sub-projection screen and control the intelligent headlights of the second vehicle to project the second sub-projection screen.

[0263] Optionally, the first sub-projection screen and the second sub-projection screen are associated with first index information. The control unit 1320 is used to: control the intelligent headlights of the first vehicle to project the first sub-projection screen and control the intelligent headlights of the second vehicle to project the second sub-projection screen according to the first index information.

[0264] It should be understood that the division of units in the above device 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 device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented 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, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0265] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0266] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0267] 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 as 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 CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0268] This application also provides a group projection device, which includes a processing unit and a storage unit. The storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform the methods or steps described in the above embodiments.

[0269] Optionally, if the group projection device is located in a vehicle, the processing unit may be the processor 151-15n shown in Figure 1.

[0270] This application also provides a team projection system, which may include intelligent headlights and a computing platform, the computing platform including the aforementioned team projection device 1300.

[0271] This application also provides a server, which may include the team projection device 1300 described above.

[0272] This application also provides a vehicle that may include the aforementioned platoon projection device 1300 or the aforementioned platoon projection system.

[0273] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0274] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0275] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.

[0276] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0277] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0278] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0279] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0280] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0281] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0282] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0283] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0284] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0285] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for group projection, characterized in that, include: Acquire first image information, which includes projected images of the intelligent headlights of multiple vehicles, wherein the multiple vehicles are vehicles that project images to be projected in a group, and the multiple vehicles include at least the first vehicle and the second vehicle. Based on the first image information and the first distance between the first vehicle and the second vehicle, the first vehicle is controlled to adjust its posture to change the relative positional relationship between the projection position of the intelligent headlight of the first vehicle and the projection position of the intelligent headlight of the second vehicle. The first distance is real-time data collected by the first vehicle and / or the second vehicle.

2. The method according to claim 1, characterized in that, The method further includes: Acquire second image information and a second distance between the first vehicle and the second vehicle. The second image information includes another projected image of the intelligent headlights of the plurality of vehicles after the first vehicle adjusts its posture. Based on the second image information and the second spacing, control the first vehicle to adjust its posture; Wherein, the difference between the second image information and the target projected image is smaller than the difference between the first image information and the target projected image.

3. The method according to claim 1 or 2, characterized in that, The control of the first vehicle to adjust its position includes: Control the intelligent headlights of the first vehicle to adjust their position.

4. The method according to any one of claims 1 to 3, characterized in that, The step of controlling the first vehicle to adjust its posture based on the first image information and the first distance between the first vehicle and the second vehicle includes: Based on the first image information and the first spacing, the target pose of the first vehicle is obtained; Based on the target pose and the first collision risk between the first vehicle and surrounding obstacles, obtain the first pose adjustment path of the first vehicle; The first vehicle is controlled to adjust its posture based on the first pose and the path is adjusted accordingly.

5. The method according to claim 4, characterized in that, The method further includes: During the process of controlling the first vehicle to adjust its posture, the second collision risk between the first vehicle and surrounding obstacles is obtained; When the second collision risk meets the preset conditions, the first vehicle is controlled to stop and third image information is acquired. The third image information includes the projected images of the intelligent headlights of the multiple vehicles after the first vehicle stops. Based on the third image information, the second vehicle is controlled to adjust its posture.

6. The method according to any one of claims 1 to 5, characterized in that, The step of controlling the first vehicle to adjust its posture based on the first image information and the first distance between the first vehicle and the second vehicle includes: Based on the first image information and the first spacing, a first instruction is sent, which is used to instruct the first vehicle to adjust its posture.

7. The method according to claim 6, characterized in that, Sending the first instruction includes: Send a first broadcast message, the first broadcast message including the first instruction, the first instruction including the identification information of the first vehicle and the position adjustment information of the first vehicle.

8. The method according to claim 7, characterized in that, The first image information includes multiple sub-projected images, and each sub-projected image includes identification information of the vehicle that projected each sub-projected image. Sending the first broadcast message includes: The first broadcast message is sent based on the identification information of the vehicle that projects each sub-projected image.

9. The method according to any one of claims 1 to 5, characterized in that, The step of controlling the first vehicle to adjust its posture based on the first image information and the first distance between the first vehicle and the second vehicle includes: Based on the first image information and the first spacing, determine the pose adjustment information of the first vehicle; Based on the posture adjustment information of the first vehicle, control the first vehicle to adjust its posture.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Based on the first image information, control at least some of the vehicles among the plurality of vehicles to adjust the projection parameters of the intelligent headlights; The projection parameters include one or more of the following: projection brightness, projection distortion, or projection image window.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Acquire the image to be projected; The image to be projected is segmented to obtain multiple sub-projection images, including a first sub-projection image and a second sub-projection image. The first sub-projection image is the image to be projected of the first vehicle, and the second sub-projection image is the image to be projected of the second vehicle. Control the intelligent headlights of the first vehicle to project the first sub-projection image, and control the intelligent headlights of the second vehicle to project the second sub-projection image.

12. The method according to claim 11, characterized in that, The first sub-projection screen and the second sub-projection screen are associated with first index information. The step of controlling the intelligent headlights of the first vehicle to project the first sub-projection screen and controlling the intelligent headlights of the second vehicle to project the second sub-projection screen includes: Based on the first index information, the intelligent headlights of the first vehicle are controlled to project the first sub-projection image, and the intelligent headlights of the second vehicle are controlled to project the second sub-projection image.

13. A team projection device, characterized in that, include: The acquisition unit is used to acquire first image information, which includes projected images of the intelligent headlights of multiple vehicles. The multiple vehicles are vehicles that project images to be projected in a group, and the multiple vehicles include at least the first vehicle and the second vehicle. The control unit is configured to control the first vehicle to adjust its posture based on the first image information and the first distance between the first vehicle and the second vehicle, so as to change the relative positional relationship between the projection position of the intelligent headlight of the first vehicle and the projection position of the intelligent headlight of the second vehicle, wherein the first distance is real-time data collected by the first vehicle and / or the second vehicle.

14. The apparatus according to claim 13, characterized in that, The acquisition unit is further configured to acquire second image information and a second distance between the first vehicle and the second vehicle. The second image information includes another projected image of the intelligent headlights of the plurality of vehicles after the first vehicle adjusts its posture. The control unit is further configured to control the first vehicle to adjust its posture based on the second image information and the second spacing; Wherein, the difference between the second image information and the target projected image is smaller than the difference between the first image information and the target projected image.

15. The apparatus according to claim 13 or 14, characterized in that, The control unit is used for: Control the position adjustment of the intelligent headlights of the first vehicle.

16. The apparatus according to any one of claims 13 to 15, characterized in that, The acquisition unit is used to acquire the target pose of the first vehicle based on the first image information and the first spacing. The acquisition unit is further configured to acquire the first pose adjustment path of the first vehicle based on the target pose and the first collision risk between the first vehicle and surrounding obstacles. The control unit is used to adjust the path according to the first pose and control the first vehicle to adjust its pose.

17. The apparatus according to claim 16, characterized in that, The acquisition unit is used to acquire the second collision risk between the first vehicle and surrounding obstacles during the process of the control unit controlling the first vehicle to adjust its posture. The control unit is further configured to control the first vehicle to stop when the second collision risk meets the preset conditions, and the acquisition unit is further configured to acquire third image information, the third image information including the projected images of the intelligent headlights of the plurality of vehicles after the first vehicle stops. The control unit is also used to control the second vehicle to adjust its posture based on the third image information.

18. The apparatus according to any one of claims 13 to 17, characterized in that, The control unit is used for: Based on the first image information and the first spacing, the control sending unit sends a first instruction, which is used to instruct the first vehicle to adjust its posture.

19. The apparatus according to claim 18, characterized in that, The control unit is used for: The sending unit is controlled to send a first broadcast message, the first broadcast message including the first instruction, the first instruction including the identification information of the first vehicle and the position adjustment information of the first vehicle.

20. The apparatus according to claim 19, characterized in that, The first image information includes multiple sub-projected images, and each sub-projected image includes identification information of the vehicle that projected each sub-projected image. The control unit is used for: Based on the identification information of the vehicle projecting each sub-projection image, the sending unit is controlled to send the first broadcast message.

21. The apparatus according to any one of claims 13 to 17, characterized in that, The device further includes: The determining unit is configured to determine the pose adjustment information of the first vehicle based on the first image information and the first spacing. The control unit is used to control the first vehicle to adjust its posture based on the posture adjustment information of the first vehicle.

22. The apparatus according to any one of claims 13 to 21, characterized in that, The control unit is further configured to control at least some of the vehicles among the plurality of vehicles to adjust the projection parameters of the intelligent headlights based on the first image information. The projection parameters include one or more of the following: projection brightness, projection distortion, or projection image window.

23. The apparatus according to any one of claims 13 to 22, characterized in that, The device also includes a screen segmentation unit. The acquisition unit is also used to acquire the image to be projected; The screen segmentation unit is used to segment the screen to be projected to obtain multiple sub-projection screens. The multiple sub-projection screens include a first sub-projection screen and a second sub-projection screen. The first sub-projection screen is the screen to be projected for the first vehicle, and the second sub-projection screen is the screen to be projected for the second vehicle. The control unit is also configured to control the intelligent headlights of the first vehicle to project the first sub-projection image and to control the intelligent headlights of the second vehicle to project the second sub-projection image.

24. The apparatus according to claim 23, characterized in that, The first sub-projection screen and the second sub-projection screen are associated with first index information. The control unit is configured to: Based on the first index information, the intelligent headlights of the first vehicle are controlled to project the first sub-projection image, and the intelligent headlights of the second vehicle are controlled to project the second sub-projection image.

25. A team projection device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 12.

26. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 13 to 25.

27. The vehicle according to claim 26, characterized in that, The vehicle also includes intelligent headlights.

28. A server, characterized in that, Includes the apparatus as described in any one of claims 13 to 25.

29. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 12.

30. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 12.

31. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 12.

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