CN115973026A

CN115973026A - Target display enhancement method, device, system, equipment and readable storage medium

Info

Publication number: CN115973026A
Application number: CN202310162845.XA
Authority: CN
Inventors: 王奕哲
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-04-18

Abstract

The application provides a target display enhancement method, a device, a system, equipment and a readable storage medium, which are applied to a vehicle, wherein the method comprises the following steps: acquiring detection information of a target object according to a sensor provided in the vehicle; determining projection light spot information corresponding to the light beam to be projected according to the detection information; determining projection parameters of the projection equipment according to the detection information and the projection light spot information; controlling the projection device to project the light beam to the target object according to the projection parameters so as to enable the target object to be in a light reflecting state. By applying the technical scheme provided by the application, the target object can be in a light reflecting state so as to be highlighted, the aim of reminding a driver of paying attention to the target object in time is fulfilled, the driving safety is improved, and the traffic accident risk is reduced.

Description

Target display enhancement method, device, system, equipment and readable storage medium

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a system, a device, and a readable storage medium for enhancing target display.

Background

With the development of traffic networks becoming more and more perfect, the driving environment faced by drivers during driving becomes more and more complex, and the drivers need to pay attention to the road conditions in front of the vehicles all the time.

At present, under driving environments such as dark light, foggy weather and vehicles on opposite lanes, objects such as pedestrians, bicycles and roadblocks in front of the vehicles, which do not emit light or do not have the outline marker lamps, are not easy to be found by drivers, and traffic accidents may be caused.

Disclosure of Invention

In view of the above, to solve the above technical problems, the present application provides a target display enhancement method, apparatus, system, device and readable storage medium.

Specifically, the method is realized through the following technical scheme:

according to a first aspect of embodiments of the present application, there is provided a target display enhancement method applied to a vehicle, the method including:

acquiring detection information of a target object according to a sensor provided in the vehicle;

determining projection light spot information corresponding to the light beam to be projected according to the detection information;

determining projection parameters of projection equipment according to the detection information and the projection light spot information;

controlling the projection device to project the light beam to the target object according to the projection parameters so as to enable the target object to be in a light reflecting state.

Optionally, the method further comprises:

acquiring obstacle information around a vehicle;

and determining the obstacle of which the obstacle information meets the set conditions as a target object.

Optionally, the detection information includes contour information of the target object; the determining the projection light spot information corresponding to the light beam to be projected according to the detection information includes:

and determining a projection light spot area formed by projecting the light beam onto the target object according to the detection information, so that the projection light spot area is positioned in the contour area of the target object.

Optionally, the probe information includes position information of the target object relative to the vehicle; determining projection parameters of the projection equipment according to the detection information and the projection light spot information, wherein the determination comprises the following steps:

determining a projection angle and a target distance of the target object relative to the vehicle according to the detection information;

and determining a projection focal length according to the target distance and the projection light spot information.

Optionally, the controlling the projection device to project the light beam to the target object with the projection parameters includes:

controlling the projection device to project a flickering light beam to the target object according to the projection parameters under the condition that the target distance is smaller than a set distance;

and controlling the projection device to stop projecting the flickering light beam after receiving the determination information from the driver.

Optionally, the detection information includes temperature information of the target object; determining projection parameters of the projection equipment according to the detection information and the projection light spot information, wherein the determination comprises the following steps:

when the target object has the temperature characteristics, determining a highest heating area of the target object according to the temperature information of the target object;

and adjusting the projection parameters according to the highest heating area so that the light beam is projected in an area outside the highest heating area of the target object.

Optionally, the light beams include a first type light beam for indicating a target object with a temperature characteristic and a second type light beam for indicating a target object without a temperature characteristic.

Optionally, the sensor comprises at least one of an ultra wideband UWB radar, a lidar, an infrared radar.

Optionally, the beam comprises a laser beam.

According to a second aspect of embodiments of the present application, there is provided a target display enhancement apparatus for use in a vehicle, the apparatus comprising:

the information acquisition module is used for acquiring detection information of a target object according to a sensor arranged in the vehicle;

the light spot information determining module is used for determining projection light spot information corresponding to the light beam to be projected according to the detection information;

the projection parameter determining module is used for determining projection parameters of the projection equipment according to the detection information and the projection light spot information;

and the control projection module is used for controlling the projection equipment to project the light beam to the target object according to the projection parameters so as to enable the target object to be in a light reflecting state.

Optionally, the apparatus further comprises:

the obstacle information acquisition module is used for acquiring obstacle information around the vehicle;

and the target object determining module is used for determining the obstacle of which the obstacle information meets the set conditions as the target object.

Optionally, the detection information includes contour information of the target object; the light spot information determination module is specifically configured to:

Optionally, the probe information includes position information of the target object relative to the vehicle; the projection parameter determination module is specifically configured to:

Optionally, the control projection module is specifically configured to:

Optionally, the detection information includes temperature information of the target object; the projection parameter determination module is specifically configured to:

when the target object has the temperature characteristic, determining a highest heating area of the target object according to the temperature information of the target object;

Optionally, the beam comprises a laser beam.

According to a third aspect of the embodiments of the present application, there is provided a target display enhancement system, which includes the target display enhancement apparatus described above, so as to implement the target display enhancement method described above.

According to a fourth aspect of embodiments of the present application, there is provided an electronic apparatus, including: a memory and a processor; the memory for storing a computer program; the processor is used for executing the target display enhancement method by calling the computer program.

According to a fifth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described target display enhancement method.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

in the technical scheme provided by the application, the detection information of the target object is detected through the sensor, and the light beam is projected to the detected target object according to the detection information, so that the target object is in a light reflecting state and is highlighted, the aim of reminding a driver of paying attention to the target object in time is fulfilled, the driving safety is improved, and the traffic accident risk is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application. Moreover, not all of the above-described effects need to be achieved by any of the embodiments in this application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic flow chart diagram illustrating a target display enhancement method according to an exemplary embodiment of the present application;

FIG. 2 is an exemplary diagram of a sensor mounted vehicle as shown in an exemplary embodiment of the present application;

FIG. 3 is a flow chart illustrating an obstacle display enhancement method according to an exemplary embodiment of the present application;

FIG. 4 is an exemplary diagram of a laser projector projecting a beam of light toward an obstacle as illustrated in an exemplary embodiment of the present application;

FIG. 5 is a diagram illustrating an example projection effect of an obstacle from a driver's perspective in a reflective state according to an exemplary embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a target display enhancement apparatus according to an exemplary embodiment of the present application;

fig. 7 is a hardware schematic diagram of an electronic device according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first classification threshold may also be referred to as the second classification threshold, and similarly, the second classification threshold may also be referred to as the first classification threshold, without departing from the scope of the present application. The word "if," as used herein, may be interpreted as "at ...when" or "when ...30when" or "in response to a determination," depending on the context.

The application provides a target display enhancement method, and referring to fig. 1, the method may include the following steps:

s101, acquiring detection information of a target object according to a sensor arranged in the vehicle;

the sensor is used for sending a detection signal to the target object and obtaining related information of the target object, such as target distance, temperature, azimuth, height, posture, shape and the like of the target object according to the detection signal and an echo signal reflected by the target object; the sensor may include at least one of UWB radar, laser radar, and infrared radar, and may be another sensor having a function of detecting target object information.

The vehicle is provided with at least one sensor in advance, and the sensor can be arranged at the head part of the vehicle, such as under a front license plate frame of the head; when a plurality of sensors are arranged on a vehicle, the plurality of sensors may be arranged at the same height, for example, three sensors are arranged side by side below a front license plate of the vehicle, or the plurality of sensors may be arranged according to the acquisition requirement of the detection information of the target object.

The target object may include a target object in a vehicle traveling direction that affects a traveling direction of the vehicle, such as a pedestrian, a vehicle, a road barrier, and the like in front of the vehicle.

The detection information of the target object may include information of the orientation, distance, angle, etc. of the target object relative to the vehicle, and may also include attribute information of the target object itself, such as height, width, temperature, shape, etc. of the target object.

S102, determining projection light spot information corresponding to the light beam to be projected according to the detection information;

the light beam to be projected is a light beam projected to the target object by a projection device, and the projection light spot information is information of a light spot formed by projecting the light beam onto the target object, and may include area information of the projection light spot, such as a size, a shape, and the like of a projection area. The coverage area of the projected light spot formed by the light beam projected on the target object is preferably not beyond the outline area of the target object, namely the area of the projected light spot is positioned within the outline area of the target object.

The probe information is various information of the target object obtained from the probe signal of the sensor and the echo signal reflected by the target object, such as contour information of the target object, and position information of the target object relative to the vehicle.

Based on the detection information, projected spot information formed by the light beam on the target object can be determined. For example, the contour information of the target object includes a contour shape, a contour region size, and the like, and according to the contour shape of the target object, the shape of the projected light spot, such as an ellipse, a circle, a rectangle, can be determined; and obtaining the size of the projection light spot area according to the size of the contour area of the target object.

S103, determining projection parameters of the projection equipment according to the detection information and the projection light spot information;

the projection device is arranged on the vehicle in advance and used for projecting a light beam onto the target object; the projection parameters of the projection device are used to characterize the direction, angle, focal length, etc. of the light beam projected by the projection device so that the light beam can form a projected spot on the target object that meets the requirements.

The position of the projection device relative to the vehicle is unchanged, a light beam is projected to the target object during the running of the vehicle, and projection parameters can be determined according to detection information of the target object. For example, the detection information includes position information of the target object relative to the vehicle, from which a projection angle of the projection device can be determined.

And S104, controlling the projection equipment to project the light beam to the target object according to the projection parameters so as to enable the target object to be in a light reflecting state.

And in the case of determining the projection parameters of the projection device, sending control instructions to the projection device to enable the projection device to project a beam to the target object, wherein the control instructions may carry the projection parameters.

And after receiving the control instruction, the projection equipment adjusts the projection equipment according to the projection parameters, such as the focal length, the projection angle and the like of the adjustment equipment, and projects the light beam to the target object, and the light beam is projected on the target object to form a projection light spot, so that the target object is reflected and displayed.

According to the technical scheme, the detection information of the target object is detected through the sensor, the light beam is projected to the detected target object according to the detection information, so that the target object is in a light reflection state and is highlighted, the purpose of reminding a driver of paying attention to the target object in time is achieved, driving safety is improved, and traffic accident risks are reduced.

In some embodiments, the projection device may be a laser projection device and the beam to be projected may be a laser beam.

The laser projection device can be a laser projector with an automatic focusing capability, and the focal length can be automatically adjusted according to the detection information of the target object; the laser projection device can emit laser beams of different colors to mark different types of target objects, for example, red and green beams can be emitted to mark a living object and a non-living object respectively.

The laser beam can emit light directionally, the brightness of the beam is high, and the beam is concentrated; based on the properties of the laser beam, the laser projection device projects the laser beam to the target object, so that the beam projected on the target object forms a stable and bright projection spot on the target object.

In the embodiment of the present disclosure, a laser beam may be used as a projection beam of the projection device, and the light reflection effect of the target object may be enhanced, so as to better remind the driver of paying attention to the target object.

In some embodiments, before acquiring the detection information of the target object, the method further comprises the following steps: acquiring obstacle information around a vehicle; and determining the obstacle with the obstacle information meeting the set conditions as the target object.

The obstacle information may be acquired by a vehicle-mounted sensor, and the obstacle information may include information such as a type, position information, a shape, contour information, a posture, a distance, and the like of the obstacle.

After the obstacle information is acquired, whether the obstacle information meets a set condition or not is judged, and if the obstacle information meets the set condition, the obstacle is determined to be a target object. For example, if the setting condition may be used to define the position of the obstacle with respect to the vehicle, an obstacle whose position information satisfies the setting condition may be determined as the target object; for another example, the setting condition may be used to indicate a contour size range of the obstacle, and then the obstacle whose contour region area satisfies the setting condition may be determined as the target object.

In the embodiment of the disclosure, the target object is determined from the obstacles around the vehicle by acquiring the obstacle information around the vehicle and according to the obstacle information and the setting conditions, the setting conditions can be dynamically adjusted under the requirement of enhanced display of different target objects, the target object is determined in a larger range, and the identification accuracy of the target object is improved.

In some embodiments, the detection information comprises contour information of the target object. In this case, the determining of the projection spot information corresponding to the light beam to be projected according to the detection information may include the following steps: and determining a projection light spot area formed by projecting the light beam onto the target object according to the contour information of the target object, so that the projection light spot area is positioned in the contour area of the target object.

The contour information of the target object may include a contour region range of the target object, such as a human-shaped contour region range corresponding to a pedestrian. Based on the contour area range of the target object, a projection light spot area formed by projecting the light beam to be projected on the target object can be determined, wherein the projection light spot area is positioned in the contour area range of the target object.

In the embodiment of the disclosure, the projection light spot area is determined by the contour information of the target object, so that the projection light spot area is located in the contour area of the target object, and thus the projected light beam does not harm people or objects except the target object, and the safety of a peripheral third party is ensured.

In some embodiments, the probe information may include position information of the target object relative to the vehicle; based on the detection information, determining the projection parameters of the projection device according to the detection information and the projection spot information may comprise the following steps: determining a projection angle and a target distance of the target object relative to the vehicle according to the position information of the target object relative to the vehicle; and determining a projection focal length according to the target distance and the projection light spot information.

Wherein the projection angle is used for indicating the direction of the projection beam projected by the projection device, and the projection focal length is used for representing the projection spot size projected onto the target object by the projection device at the current distance.

According to the position information of the target object relative to the vehicle, the position information of the target object relative to the projection equipment can be obtained, and the projection angle can be obtained through information conversion; meanwhile, based on the position information of the target object relative to the vehicle, a target distance of the target object relative to the vehicle may be acquired.

Under the condition that the target distance and the projection light spot information are acquired, a light beam is projected to the target object when the projection light spot information is not changed, and a projection light spot formed by the light beam covers the target object, so that the projection focal length of a projection device needs to be adjusted; and acquiring the projection focal length according to the target distance and the projection light spot information.

In some embodiments, said controlling said projection device to project said beam of light towards said target object with said projection parameters may comprise the steps of: controlling the projection device to project a flickering light beam to the target object according to the projection parameters under the condition that the target distance is smaller than a set distance; and controlling the projection device to stop projecting the flickering light beam after receiving the determination information from the driver.

The set distance can be a hundred-kilometer braking distance of the vehicle, standards of the hundred-kilometer braking distances of different types of vehicles are different, and the set distance can be set according to the types of the vehicles.

In the embodiment of the disclosure, under the condition that the target distance is less than the set distance, the projection device is controlled to emit the flickering light beam, so that the driver is further reminded of paying attention to the target object, meanwhile, the visual fatigue of the driver can be caused by frequent flickering of the light beam, and the flickering light is projected under the condition that the distance meets the set distance, so that the driving safety is improved when the visual fatigue of the driver is reduced as much as possible.

In some embodiments, the detection information may include temperature information of the target object; in this case, the projection light spot information is generated based on the detection information and the projection light spot information, determining projection parameters of the projection device may comprise the steps of: when the target object has the temperature characteristics, determining a highest heating area of the target object according to the temperature information of the target object; and adjusting the projection parameters according to the highest heating area so that the light beam is projected in an area outside the highest heating area of the target object.

The target object has temperature characteristics, namely the target object is a living body, and the highest heating area of the target object can be determined according to the temperature information of the target object; when the projection device is controlled to project the light beam to the target object, the projection angle can be adjusted or the projection angle and the projection focal length can be adjusted simultaneously, so that the projection light spot area formed by the light beam on the target object avoids the highest heating area, namely the projection light spot area is in the outline area of the target object except the highest heating area.

For example, if the target object is a pedestrian, the sensor acquires temperature information of the pedestrian, and the highest heating area of the pedestrian is a face area based on the temperature information, the projection angle of the projection device may be adjusted so that the light beam does not irradiate the face area of the pedestrian, that is, the projection light spot formed on the pedestrian is located in a contour area of the pedestrian except the face area.

In the implementation of the present disclosure, unnecessary damage to the target object having a temperature is avoided by adjusting the projection parameters such that the light beam irradiates the region other than the region of the target object where the heat generation is highest.

In some embodiments, the light beams include a first type of light beam for indicating a target object having a temperature characteristic and a second type of light beam for indicating a target object not having a temperature characteristic.

The first type light beam and the second type light beam may be two light beams with different colors, for example, the color of the light beam may include red and green, that is, the first type light beam may be a red light beam for identifying a target object with a temperature characteristic, and the second type light beam may be a green light beam for identifying a target object without a temperature characteristic.

In the embodiment of the disclosure, two different types of light beams are set and are respectively used for indicating the target object with the temperature characteristic and the target object without the temperature characteristic, so that the driver can be more clearly reminded of paying attention to the target object in time.

In some embodiments, the sensor may comprise at least one of an ultra-wideband UWB radar, a lidar, an infrared radar.

The UWB is an ultra wide band technology, utilizes nanosecond-level non-sine wave narrow pulse to transmit data, has high-speed transmission rate and better penetrability, and is strong in anti-interference capacity and high in detection precision and safety performance. The mode of acquiring the detection information by the UWB radar is to transmit a pulse signal to the target object and perform operations such as distance detection, target object positioning and imaging according to an echo signal reflected by the target object.

The laser radar and the infrared radar acquire the detection information in a mode similar to the principle of the UWB radar, and the application is not repeated again.

In the embodiment of the present disclosure, at least one of a UWB radar, a laser radar, and an infrared radar is used as a vehicle-mounted sensor to acquire detection information of a target object, so that acquisition accuracy of the detection information can be improved.

The following describes a scheme of the present application in conjunction with a specific scenario of obstacle display enhancement during vehicle driving.

The embodiment of the application takes the obstacle display enhancement in the vehicle driving direction as an example, and the scheme of the application is exemplarily detailed. The vehicle head of the vehicle is provided with the sensor, as shown in fig. 2, the sensor comprises a UWB radar, an infrared radar and a laser radar, and is used for acquiring detection information of an obstacle in the vehicle traveling direction; the vehicle head further comprises two laser projectors, wherein the laser projectors are located on two sides of the vehicle lamp of the vehicle and used for projecting light beams to the target object so that the target object is in a light reflecting state. The two laser projectors can work independently or jointly, namely the two laser projectors can project light beams to two obstacles respectively or simultaneously to the same obstacle.

Taking the vehicle as an example, an embodiment of the present application provides an obstacle display enhancing method, and referring to fig. 3, the method may include:

s201, determining detection information of an obstacle in the vehicle driving direction through a sensor arranged on the vehicle, wherein the detection information comprises position information of the obstacle relative to the UWB radar, outline information of the obstacle and temperature information of the obstacle;

the obstacle may be a target object affecting the trajectory of the vehicle, such as a pedestrian, a vehicle, a road block, and other target objects affecting the trajectory in front of the vehicle.

The infrared radar can detect whether the obstacle has temperature characteristics or not and output temperature information of the obstacle, such as temperature area distribution of the obstacle.

The UWB radar can accurately position the obstacle and describe the outline of the obstacle, controls the UWB radar to transmit a pulse signal to a vehicle running method, the pulse signal can form an echo signal after being reflected by the obstacle, and acquires the detection information of the obstacle according to the pulse signal and the echo signal.

Laser radar also can acquire the detection information of barrier, can be in control UWB radar acquireing when the detection information, control laser radar acquires in step the detection information to it is right to utilize laser radar the detection information that UWB radar acquireed verifies to guarantee the accuracy of detection information. Specifically, according to the position relationship between the laser radar and the UWB radar, the detection information acquired by the laser radar is converted into information relative to the UWB radar, and the detection information obtained after conversion is compared with the detection information acquired by the UWB radar, so that the detection information is verified.

S202, determining a projection light spot area corresponding to the light beam to be projected according to the contour information of the obstacle, wherein the projection light spot area is positioned in the contour area of the obstacle;

the light beam to be projected is projected on the barrier to form a projection light spot which covers the barrier, and the coverage area of the projection light spot cannot exceed the outline area of the barrier, so that the light beam is prevented from harming objects except the barrier, such as light pollution, influence on third-party driving and the like.

The contour information of the obstacle may include a contour region of the obstacle, and the size of the projected light spot region may be determined according to the contour region of the obstacle.

S203, determining a projection angle of the laser projector and a target distance of the obstacle relative to the laser projector according to the position information of the obstacle relative to the UWB radar;

the positions of the UWB radar and the laser projector are fixed, and the position information of the obstacle relative to the laser projector can be obtained through geometric transformation according to the position information of the UWB radar relative to the laser projector and the position information of the obstacle relative to the UWB radar; from this position information, the projection angle of the laser projector can be determined, while the target distance of the laser projector and the target object can be calculated.

S204, determining the projection focal length of the laser projector according to the size of the projection light spot area and the target distance;

and S205, controlling a laser projector to project laser beams to the obstacle at the projection angle and the projection focal length under the condition that the target distance is greater than a preset distance, so that the obstacle is in a light reflecting state.

The preset distance can be the braking distance of a hundred kilometers of the automobile. And when the target distance is greater than the preset distance, controlling the laser projectors to project laser beams to the obstacles, wherein the working states of the two laser projectors can be controlled according to the number of the obstacles.

In one example, in response to only one obstacle being detected within the sensor detection range, controlling any one of the laser projectors to project a laser beam toward the obstacle; in response to the detection of two obstacles within the sensor detection range, as shown in fig. 4, the two laser projectors may be controlled to project laser beams to the two obstacles, respectively; and controlling the two laser projectors to project laser beams to two obstacles nearest to the vehicle respectively in response to the detection of three or more obstacles in the detection range of the sensor, stopping the projection of the laser beams to the obstacles after receiving confirmation information from the driver that the driver notices the obstacles, determining detection information of the next obstacle nearest to the vehicle and not projecting the laser beams, and performing laser beam projection.

After the laser projector projects the laser beam to the obstacle, the laser beam forms a projection light spot on the surface of the obstacle, and the projection light spot can enable the obstacle to be in a light reflecting state. As shown in fig. 5, after the laser projector projects the laser beam to two obstacles in front of the vehicle, two reflective objects in front of the road can be observed from the driver's perspective, and the dashed frame in the figure is the projection spot area of the laser beam on the target object, and preferably, the corresponding area of the dashed frame is located in the contour area of the target object.

S206, under the condition that the target distance is smaller than or equal to the preset distance, adjusting a laser projector to project a flickering laser beam to the obstacle at the projection angle and the projection focal length so as to enable the obstacle to be in a light reflecting state.

The target distance is smaller than the preset distance, namely the vehicle enters a braking distance range of hundreds of kilometers, when the driver notices the target object, the vehicle can avoid colliding with the obstacle through emergency braking, and the flashing laser beam can further remind the driver of the existence of the obstacle.

And after receiving the driver confirmation information, controlling the laser projector to stop projecting the laser beam to the obstacle confirmed by the driver, determining the next obstacle in front of the road needing to be enhanced and displayed, and projecting the laser.

In correspondence with the foregoing embodiments of the target display enhancement method, and as shown in fig. 6, the present application further provides embodiments of a target display enhancement apparatus, the apparatus comprising:

an information acquisition module 601 configured to acquire detection information of a target object according to a sensor provided in the vehicle;

a light spot information determining module 602, configured to determine, according to the detection information, projection light spot information corresponding to a light beam to be projected;

a projection parameter determining module 603, configured to determine a projection parameter of the projection device according to the detection information and the projection spot information;

and a control projection module 604, configured to control the projection device to project the light beam to the target object according to the projection parameters, so that the target object is in a reflective state.

Optionally, the apparatus further comprises:

Optionally, the control projection module is specifically configured to:

Optionally, the beam comprises a laser beam.

The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement without inventive effort.

An embodiment of the present application further provides a target display enhancement system, which includes the above target display enhancement apparatus, and implements any one of the target display enhancement methods provided in any one of the embodiments or any one of the optional implementations in the present application.

An embodiment of the present application further provides an electronic device, a schematic structural diagram of the electronic device is shown in fig. 7, where the electronic device 700 includes at least one processor 701, a memory 702, and a bus 703, and the at least one processor 701 is electrically connected to the memory 702; the memory 702 is configured to store at least one computer-executable instruction, and the processor 701 is configured to execute the at least one computer-executable instruction to perform the steps of any one of the target display enhancement methods as provided by any one of the embodiments or any one of the alternative embodiments of the present application.

Further, the processor 701 may be an FPGA (Field-Programmable Gate Array) or other devices with logic processing capability, such as an MCU (micro controller Unit) and a CPU (Central processing Unit).

According to the technical scheme, the detection information of the target object is detected through the sensor, the light beam is projected to the detected target object according to the detection information, so that the target object is in a light reflecting state and is highlighted, the aim of reminding a driver of paying attention to the target object in time is fulfilled, driving safety is improved, and the risk of traffic accidents is reduced.

The embodiment of the present application further provides another readable storage medium, which stores a computer program, and the computer program is used for implementing the steps of any one of the target display enhancement methods provided in any one of the embodiments or any one of the alternative embodiments of the present application when the computer program is executed by a processor.

Examples of readable storage media provided by the embodiments of the present application include, but are not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable storage medium includes any medium that can store or transfer information in a form readable by a device (e.g., a computer).

While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. In other instances, features described in connection with one embodiment may be implemented as discrete components or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Further, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A target display enhancement method applied to a vehicle, the method comprising:

determining projection parameters of the projection equipment according to the detection information and the projection light spot information;

2. The method of claim 1, further comprising:

acquiring obstacle information around a vehicle;

and determining the obstacle with the obstacle information meeting the set conditions as a target object.

3. The method of claim 1, wherein the probe information includes contour information of the target object; the determining the projection light spot information corresponding to the light beam to be projected according to the detection information includes:

4. The method of claim 1, wherein the probe information includes position information of the target object relative to the vehicle; determining projection parameters of the projection equipment according to the detection information and the projection light spot information, wherein the determination comprises the following steps:

5. The method of claim 4, wherein the controlling the projection device to project the beam of light at the projection parameters to the target object comprises:

6. The method of claim 1, wherein the probe information includes temperature information of the target object; determining projection parameters of the projection equipment according to the detection information and the projection light spot information, wherein the determination comprises the following steps:

7. The method of claim 1, wherein the light beams comprise a first type of light beam for indicating a target object with a temperature characteristic and a second type of light beam for indicating a target object without a temperature characteristic.

8. The method of claim 1, wherein the sensor comprises at least one of an ultra-wideband UWB radar, a lidar, and an infrared radar.

9. The method of any of claims 1-8, wherein the beam of light comprises a laser beam.

10. A target display enhancement device, for use in a vehicle, the device comprising:

the projection parameter determining module is used for determining projection parameters of projection equipment according to the detection information and the projection light spot information;

11. A target display enhancement system comprising the target display enhancement apparatus of claim 10.

12. An electronic device, comprising: a memory, a processor;

the memory for storing a computer program;

the processor for invoking the computer program to implement the target display enhancement method of any one of claims 1-9.

13. A readable storage medium on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the target display enhancement method according to any one of claims 1-9.